Merge branch 'master' into fix_full_list_controllers

ros-controls · Aug 22, 2024 · d4c28a9 · d4c28a9
2 parents 8f3d23e + cdfc0af
commit d4c28a9
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diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -8,8 +8,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-abi-compatibility.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-abi-compatibility.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'

diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
@@ -11,8 +11,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'
@@ -23,8 +24,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'

diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
@@ -8,9 +8,10 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-coverage-build.yml'
       - 'codecov.yml'
-      - '**.yaml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
@@ -21,9 +22,10 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-coverage-build.yml'
       - 'codecov.yml'
-      - '**.yaml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -8,8 +8,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-debian-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-debian-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'

diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -8,8 +8,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-rhel-semi-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-rhel-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'

diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
@@ -10,8 +10,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
@@ -22,8 +23,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'

diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -8,6 +8,8 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-source-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'

diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
@@ -13,8 +13,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/iron-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/iron-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.iron.repos'
@@ -25,8 +26,9 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/iron-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/iron-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.iron.repos'

diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-coverage-build.yml'
       - 'codecov.yml'
@@ -21,6 +22,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-coverage-build.yml'
       - 'codecov.yml'

diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-debian-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
@@ -12,6 +12,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/iron-source-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
@@ -13,6 +13,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-debian-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-rhel-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
@@ -12,6 +12,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-semi-binary-build.yml'
       - '**/package.xml'
@@ -24,6 +25,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/jazzy-source-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
@@ -13,6 +13,8 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/rolling-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
@@ -24,6 +26,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-coverage-build.yml'
       - 'codecov.yml'
@@ -21,6 +22,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-coverage-build.yml'
       - 'codecov.yml'

diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-debian-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-rhel-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
@@ -12,6 +12,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-semi-binary-build.yml'
       - '**/package.xml'
@@ -24,6 +25,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-semi-binary-build.yml'
       - '**/package.xml'

diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
@@ -8,6 +8,7 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-source-build.yml'
       - '**/package.xml'

diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -58,10 +58,8 @@ if(BUILD_TESTING)
   find_package(ros2_control_test_assets REQUIRED)
 
 
-  add_rostest_with_parameters_gmock(test_load_ackermann_steering_controller
-    test/test_load_ackermann_steering_controller.cpp
-    ${CMAKE_CURRENT_SOURCE_DIR}/test/ackermann_steering_controller_params.yaml
-  )
+  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
+  ament_add_gmock(test_load_ackermann_steering_controller test/test_load_ackermann_steering_controller.cpp)
   ament_target_dependencies(test_load_ackermann_steering_controller
     controller_manager
     hardware_interface

diff --git a/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp
@@ -29,12 +29,15 @@ TEST(TestLoadAckermannSteeringController, load_controller)
 
   controller_manager::ControllerManager cm(
     executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
+  const std::string test_file_path =
+    std::string(TEST_FILES_DIRECTORY) + "/ackermann_steering_controller_params.yaml";
 
-  ASSERT_NE(
-    cm.load_controller(
-      "test_ackermann_steering_controller",
-      "ackermann_steering_controller/AckermannSteeringController"),
-    nullptr);
+  cm.set_parameter({"test_ackermann_steering_controller.params_file", test_file_path});
+  cm.set_parameter(
+    {"test_ackermann_steering_controller.type",
+     "ackermann_steering_controller/AckermannSteeringController"});
+
+  ASSERT_NE(cm.load_controller("test_ackermann_steering_controller"), nullptr);
 }
 
 int main(int argc, char ** argv)

diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
@@ -68,10 +68,8 @@ if(BUILD_TESTING)
   find_package(kinematics_interface_kdl REQUIRED)
 
   # test loading admittance controller
-  add_rostest_with_parameters_gmock(test_load_admittance_controller
-    test/test_load_admittance_controller.cpp
-    ${CMAKE_CURRENT_SOURCE_DIR}/test/test_params.yaml
-  )
+  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
+  ament_add_gmock(test_load_admittance_controller test/test_load_admittance_controller.cpp)
   ament_target_dependencies(test_load_admittance_controller
     controller_manager
     hardware_interface

diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -46,11 +46,17 @@ controller_interface::return_type AdmittanceRule::configure(
   {
     try
     {
+      // Make sure we destroy the interface first. Otherwise we might run into a segfault
+      if (kinematics_loader_)
+      {
+        kinematics_.reset();
+      }
       kinematics_loader_ =
         std::make_shared<pluginlib::ClassLoader<kinematics_interface::KinematicsInterface>>(
           parameters_.kinematics.plugin_package, "kinematics_interface::KinematicsInterface");
       kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
+
       if (!kinematics_->initialize(
             node->get_node_parameters_interface(), parameters_.kinematics.tip))
       {

diff --git a/admittance_controller/test/test_load_admittance_controller.cpp b/admittance_controller/test/test_load_admittance_controller.cpp
@@ -30,10 +30,13 @@ TEST(TestLoadAdmittanceController, load_controller)
 
   controller_manager::ControllerManager cm(
     executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager");
+  const std::string test_file_path = std::string(TEST_FILES_DIRECTORY) + "/test_params.yaml";
 
-  ASSERT_EQ(
-    cm.load_controller("load_admittance_controller", "admittance_controller/AdmittanceController"),
-    nullptr);
+  cm.set_parameter({"load_admittance_controller.params_file", test_file_path});
+  cm.set_parameter(
+    {"load_admittance_controller.type", "admittance_controller/AdmittanceController"});
+
+  ASSERT_EQ(cm.load_controller("load_admittance_controller"), nullptr);
 }
 
 int main(int argc, char ** argv)

diff --git a/bicycle_steering_controller/CMakeLists.txt b/bicycle_steering_controller/CMakeLists.txt
@@ -57,10 +57,8 @@ if(BUILD_TESTING)
   find_package(hardware_interface REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
 
-  add_rostest_with_parameters_gmock(test_load_bicycle_steering_controller
-    test/test_load_bicycle_steering_controller.cpp
-    ${CMAKE_CURRENT_SOURCE_DIR}/test/bicycle_steering_controller_params.yaml
-  )
+  add_definitions(-DTEST_FILES_DIRECTORY="${CMAKE_CURRENT_SOURCE_DIR}/test")
+  ament_add_gmock(test_load_bicycle_steering_controller test/test_load_bicycle_steering_controller.cpp)
   ament_target_dependencies(test_load_bicycle_steering_controller
     controller_manager
     hardware_interface