Merge branch 'master' into master

ros-controls · Dec 13, 2023 · 0e3b8cb · 0e3b8cb
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diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ackermann_steering_controller</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>admittance_controller</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bicycle_steering_controller</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 

diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>force_torque_sensor_broadcaster</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Jordan Palacios</maintainer>

diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 

diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>imu_sensor_broadcaster</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+
 4.1.0 (2023-12-01)
 ------------------
 * Increase test coverage of interface configuration getters (`#856 <https://github.com/ros-controls/ros2_controllers/issues/856>`_)

diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Stogl</maintainer>

diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.2.0 (2023-12-12)
+------------------
+* Cleanup package.xml und clarify tests of JTC. (`#889 <https://github.com/ros-controls/ros2_controllers/issues/889>`_)
+* Fix floating point comparison in JTC (`#879 <https://github.com/ros-controls/ros2_controllers/issues/879>`_)
+* Contributors: Abishalini Sivaraman, Dr. Denis
+
 4.1.0 (2023-12-01)
 ------------------
 * [JTC] Continue with last trajectory-point on success (`#842 <https://github.com/ros-controls/ros2_controllers/issues/842>`_)

diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
@@ -1,32 +1,27 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>4.1.0</version>
+  <version>4.2.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
-  <maintainer email="[email protected]">Jordan Palacios</maintainer>
-  <maintainer email="[email protected]">Karsten Knese</maintainer>
+  <maintainer email="[email protected]">Dr. Denis Štogl</maintainer>
+  <maintainer email="[email protected]">Christoph Froehlich</maintainer>
 
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>angles</build_depend>
-  <build_depend>pluginlib</build_depend>
-  <build_depend>realtime_tools</build_depend>
-
-  <exec_depend>angles</exec_depend>
-  <exec_depend>pluginlib</exec_depend>
-  <exec_depend>realtime_tools</exec_depend>
-
+  <depend>angles</depend>
   <depend>backward_ros</depend>
   <depend>controller_interface</depend>
   <depend>control_msgs</depend>
   <depend>control_toolbox</depend>
   <depend>generate_parameter_library</depend>
   <depend>hardware_interface</depend>
+  <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>realtime_tools</depend>
   <depend>rsl</depend>
   <depend>tl_expected</depend>
   <depend>trajectory_msgs</depend>

diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -215,21 +215,21 @@ class TrajectoryControllerTest : public ::testing::Test
   }
 
   void SetPidParameters(
-    double p_default = 0.0, double ff_default = 1.0, bool angle_wraparound_default = false)
+    double p_value = 0.0, double ff_value = 1.0, bool angle_wraparound_value = false)
   {
     traj_controller_->trigger_declare_parameters();
     auto node = traj_controller_->get_node();
 
     for (size_t i = 0; i < joint_names_.size(); ++i)
     {
       const std::string prefix = "gains." + joint_names_[i];
-      const rclcpp::Parameter k_p(prefix + ".p", p_default);
+      const rclcpp::Parameter k_p(prefix + ".p", p_value);
       const rclcpp::Parameter k_i(prefix + ".i", 0.0);
       const rclcpp::Parameter k_d(prefix + ".d", 0.0);
       const rclcpp::Parameter i_clamp(prefix + ".i_clamp", 0.0);
-      const rclcpp::Parameter ff_velocity_scale(prefix + ".ff_velocity_scale", ff_default);
+      const rclcpp::Parameter ff_velocity_scale(prefix + ".ff_velocity_scale", ff_value);
       const rclcpp::Parameter angle_wraparound(
-        prefix + ".angle_wraparound", angle_wraparound_default);
+        prefix + ".angle_wraparound", angle_wraparound_value);
       node->set_parameters({k_p, k_i, k_d, i_clamp, ff_velocity_scale, angle_wraparound});
     }
   }