Merge branch 'master' into add/cm/activity/topic

ros-controls · Feb 19, 2025 · 0aa3494 · 0aa3494
2 parents a2b07d9 + 201d3a7
commit 0aa3494
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diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -21,12 +21,6 @@ concurrency:
 
 jobs:
   abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: humble
-          ROS_REPO: testing
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
+    with:
+      ros_distro: humble
diff --git a/.github/workflows/humble-semi-binary-downstream-build.yml b/.github/workflows/humble-semi-binary-downstream-build.yml
@@ -30,7 +30,7 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: humble
       upstream_workspace: ros2_control.humble.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we test the downstream packages, which are part of our organization
       downstream_workspace: ros_controls.humble.repos
@@ -42,8 +42,10 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: humble
       upstream_workspace: ros2_control.humble.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we don't test the downstream packages, which are outside of our organization
-      downstream_workspace: downstream.humble.repos
+      downstream_workspace: | # build also the ros2_control packages
+        ros_controls.humble.repos
+        downstream.humble.repos
       not_test_downstream: true
diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
@@ -21,12 +21,6 @@ concurrency:
 
 jobs:
   abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: jazzy
-          ROS_REPO: testing
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
+    with:
+      ros_distro: jazzy
diff --git a/.github/workflows/jazzy-semi-binary-downstream-build.yml b/.github/workflows/jazzy-semi-binary-downstream-build.yml
@@ -30,7 +30,7 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: master
       upstream_workspace: ros2_control.jazzy.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we test the downstream packages, which are part of our organization
       downstream_workspace: ros_controls.jazzy.repos
@@ -42,8 +42,10 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: master
       upstream_workspace: ros2_control.jazzy.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we don't test the downstream packages, which are outside of our organization
-      downstream_workspace: downstream.jazzy.repos
+      downstream_workspace: | # build also the ros_controls packages
+        ros_controls.jazzy.repos
+        downstream.jazzy.repos
       not_test_downstream: true
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -21,12 +21,6 @@ concurrency:
 
 jobs:
   abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: rolling
-          ROS_REPO: testing
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
+    with:
+      ros_distro: rolling
diff --git a/.github/workflows/rolling-semi-binary-downstream-build.yml b/.github/workflows/rolling-semi-binary-downstream-build.yml
@@ -34,7 +34,7 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: master
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we test the downstream packages, which are part of our organization
       downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
@@ -50,8 +50,10 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: master
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we don't test the downstream packages, which are outside of our organization
-      downstream_workspace: downstream.${{ matrix.ROS_DISTRO }}.repos
+      downstream_workspace: | # build also the ros_controls packages
+        ros_controls.${{ matrix.ROS_DISTRO }}.repos
+        downstream.${{ matrix.ROS_DISTRO }}.repos
       not_test_downstream: true
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -50,7 +50,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 24.10.0
+    rev: 25.1.0
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -63,7 +63,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.5
+    rev: v19.1.7
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -126,14 +126,14 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.3.0
+    rev: v2.4.1
     hooks:
       - id: codespell
         args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel']
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.30.0
+    rev: 0.31.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.26.0 (2025-02-07)
+-------------------
+* add a semantic command interface to "semantic_components" (`#1945 <https://github.com/ros-controls/ros2_control/issues/1945>`_)
+* Contributors: Thibault Poignonec
+
+4.25.0 (2025-01-29)
+-------------------
+* Use `target_compile_definitions` instead of installing test files (`#2009 <https://github.com/ros-controls/ros2_control/issues/2009>`_)
+* Add GPS semantic component (`#2000 <https://github.com/ros-controls/ros2_control/issues/2000>`_)
+* Contributors: Sai Kishor Kothakota, Wiktor Bajor
+
 4.24.0 (2025-01-13)
 -------------------
 * Trigger shutdown transition in destructor (`#1979 <https://github.com/ros-controls/ros2_control/issues/1979>`_)

diff --git a/controller_interface/CMakeLists.txt b/controller_interface/CMakeLists.txt
@@ -87,12 +87,30 @@ if(BUILD_TESTING)
   ament_target_dependencies(test_pose_sensor
     geometry_msgs
   )
-
   ament_add_gmock(test_gps_sensor test/test_gps_sensor.cpp)
   target_link_libraries(test_gps_sensor
     controller_interface
     hardware_interface::hardware_interface
   )
+
+  # Semantic component command interface tests
+
+  ament_add_gmock(test_semantic_component_command_interface
+    test/test_semantic_component_command_interface.cpp
+  )
+  target_link_libraries(test_semantic_component_command_interface
+    controller_interface
+    hardware_interface::hardware_interface
+  )
+
+  ament_add_gmock(test_led_rgb_device test/test_led_rgb_device.cpp)
+  target_link_libraries(test_led_rgb_device
+    controller_interface
+    hardware_interface::hardware_interface
+  )
+  ament_target_dependencies(test_led_rgb_device
+    std_msgs
+  )
 endif()
 
 install(

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -23,6 +23,7 @@
 #include "realtime_tools/async_function_handler.hpp"
 
 #include "hardware_interface/handle.hpp"
+#include "hardware_interface/introspection.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 
@@ -305,6 +306,14 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
    */
   void wait_for_trigger_update_to_finish();
 
+  std::string get_name() const;
+
+  /// Enable or disable introspection of the controller.
+  /**
+   * \param[in] enable Enable introspection if true, disable otherwise.
+   */
+  void enable_introspection(bool enable);
+
 protected:
   std::vector<hardware_interface::LoanedCommandInterface> command_interfaces_;
   std::vector<hardware_interface::LoanedStateInterface> state_interfaces_;
@@ -316,6 +325,9 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   bool is_async_ = false;
   std::string urdf_ = "";
   ControllerUpdateStats trigger_stats_;
+
+protected:
+  pal_statistics::RegistrationsRAII stats_registrations_;
 };
 
 using ControllerInterfaceBaseSharedPtr = std::shared_ptr<ControllerInterfaceBase>;

diff --git a/controller_interface/include/semantic_components/force_torque_sensor.hpp b/controller_interface/include/semantic_components/force_torque_sensor.hpp
@@ -96,7 +96,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
     {
       if (existing_axes_[i])
       {
-        forces[i] = state_interfaces_[interface_counter].get().get_value();
+        forces[i] = state_interfaces_[interface_counter].get().get_value<double>().value();
         ++interface_counter;
       }
     }
@@ -123,7 +123,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
     {
       if (existing_axes_[i + FORCES_SIZE])
       {
-        torques[i] = state_interfaces_[torque_interface_counter].get().get_value();
+        torques[i] = state_interfaces_[torque_interface_counter].get().get_value<double>().value();
         ++torque_interface_counter;
       }
     }

diff --git a/controller_interface/include/semantic_components/gps_sensor.hpp b/controller_interface/include/semantic_components/gps_sensor.hpp
@@ -59,7 +59,10 @@ class GPSSensor : public SemanticComponentInterface<sensor_msgs::msg::NavSatFix>
    *
    * \return Status
    */
-  int8_t get_status() const { return static_cast<int8_t>(state_interfaces_[0].get().get_value()); }
+  int8_t get_status() const
+  {
+    return static_cast<int8_t>(state_interfaces_[0].get().template get_value<double>().value());
+  }
 
   /**
    * Return service used by GPS e.g. fix/no_fix
@@ -68,29 +71,38 @@ class GPSSensor : public SemanticComponentInterface<sensor_msgs::msg::NavSatFix>
    */
   uint16_t get_service() const
   {
-    return static_cast<uint16_t>(state_interfaces_[1].get().get_value());
+    return static_cast<uint16_t>(state_interfaces_[1].get().template get_value<double>().value());
   }
 
   /**
    * Return latitude reported by a GPS
    *
    * \return Latitude.
    */
-  double get_latitude() const { return state_interfaces_[2].get().get_value(); }
+  double get_latitude() const
+  {
+    return state_interfaces_[2].get().template get_value<double>().value();
+  }
 
   /**
    * Return longitude reported by a GPS
    *
    * \return Longitude.
    */
-  double get_longitude() const { return state_interfaces_[3].get().get_value(); }
+  double get_longitude() const
+  {
+    return state_interfaces_[3].get().template get_value<double>().value();
+  }
 
   /**
    * Return altitude reported by a GPS
    *
    * \return Altitude.
    */
-  double get_altitude() const { return state_interfaces_[4].get().get_value(); }
+  double get_altitude() const
+  {
+    return state_interfaces_[4].get().template get_value<double>().value();
+  }
 
   /**
    * Return covariance reported by a GPS.
@@ -102,9 +114,9 @@ class GPSSensor : public SemanticComponentInterface<sensor_msgs::msg::NavSatFix>
     typename = std::enable_if_t<sensor_option == GPSSensorOption::WithCovariance, U>>
   const std::array<double, 9> & get_covariance()
   {
-    covariance_[0] = state_interfaces_[5].get().get_value();
-    covariance_[4] = state_interfaces_[6].get().get_value();
-    covariance_[8] = state_interfaces_[7].get().get_value();
+    covariance_[0] = state_interfaces_[5].get().template get_value<double>().value();
+    covariance_[4] = state_interfaces_[6].get().template get_value<double>().value();
+    covariance_[8] = state_interfaces_[7].get().template get_value<double>().value();
     return covariance_;
   }
 

diff --git a/controller_interface/include/semantic_components/imu_sensor.hpp b/controller_interface/include/semantic_components/imu_sensor.hpp
@@ -52,7 +52,7 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
     std::array<double, 4> orientation;
     for (auto i = 0u; i < orientation.size(); ++i)
     {
-      orientation[i] = state_interfaces_[i].get().get_value();
+      orientation[i] = state_interfaces_[i].get().get_value<double>().value();
     }
     return orientation;
   }
@@ -69,7 +69,8 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
     const std::size_t interface_offset{4};
     for (auto i = 0u; i < angular_velocity.size(); ++i)
     {
-      angular_velocity[i] = state_interfaces_[interface_offset + i].get().get_value();
+      angular_velocity[i] =
+        state_interfaces_[interface_offset + i].get().get_value<double>().value();
     }
     return angular_velocity;
   }
@@ -86,7 +87,8 @@ class IMUSensor : public SemanticComponentInterface<sensor_msgs::msg::Imu>
     const std::size_t interface_offset{7};
     for (auto i = 0u; i < linear_acceleration.size(); ++i)
     {
-      linear_acceleration[i] = state_interfaces_[interface_offset + i].get().get_value();
+      linear_acceleration[i] =
+        state_interfaces_[interface_offset + i].get().get_value<double>().value();
     }
     return linear_acceleration;
   }