diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml index 5c288fabfb..d72d3725b3 100644 --- a/.github/workflows/humble-abi-compatibility.yml +++ b/.github/workflows/humble-abi-compatibility.yml @@ -4,6 +4,15 @@ on: pull_request: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-abi-compatibility.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.humble.repos' jobs: abi_check: diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml index df449caecb..a78f6135b6 100644 --- a/.github/workflows/humble-binary-build.yml +++ b/.github/workflows/humble-binary-build.yml @@ -7,9 +7,27 @@ on: pull_request: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-binary-build.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.humble.repos' push: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-binary-build.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.humble.repos' schedule: # Run every morning to detect flakiness and broken dependencies - cron: '03 1 * * *' diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml new file mode 100644 index 0000000000..0eeeaedf40 --- /dev/null +++ b/.github/workflows/humble-check-docs.yml @@ -0,0 +1,18 @@ +name: Humble Check Docs + +on: + workflow_dispatch: + pull_request: + branches: + - humble + paths: + - '**.rst' + - '**.md' + - '**.yaml' + +jobs: + check-docs: + name: Check Docs + uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@humble + with: + ROS2_CONTROLLERS_PR: ${{ github.ref }} diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml index 0910572227..f39758a512 100644 --- a/.github/workflows/humble-coverage-build.yml +++ b/.github/workflows/humble-coverage-build.yml @@ -4,9 +4,29 @@ on: push: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-coverage-build.yml' + - 'codecov.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.humble.repos' pull_request: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-coverage-build.yml' + - 'codecov.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.humble.repos' jobs: coverage_humble: @@ -14,4 +34,3 @@ jobs: secrets: inherit with: ros_distro: humble - os_name: ubuntu-22.04 diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml index db0a8456f8..b018fcea84 100644 --- a/.github/workflows/humble-debian-build.yml +++ b/.github/workflows/humble-debian-build.yml @@ -4,6 +4,15 @@ on: pull_request: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-debian-build.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.humble.repos' schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml index be8c84b05b..5bb2408578 100644 --- a/.github/workflows/humble-pre-commit.yml +++ b/.github/workflows/humble-pre-commit.yml @@ -11,4 +11,3 @@ jobs: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master with: ros_distro: humble - os_name: ubuntu-22.04 diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml index ccf64a0246..2a7814f8b3 100644 --- a/.github/workflows/humble-rhel-semi-binary-build.yml +++ b/.github/workflows/humble-rhel-semi-binary-build.yml @@ -4,6 +4,15 @@ on: pull_request: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-rhel-semi-binary-build.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.humble.repos' schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml index aaed9c8ca2..72287fa115 100644 --- a/.github/workflows/humble-semi-binary-build.yml +++ b/.github/workflows/humble-semi-binary-build.yml @@ -6,9 +6,27 @@ on: pull_request: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-semi-binary-build.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.humble.repos' push: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-semi-binary-build.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.humble.repos' schedule: # Run every morning to detect flakiness and broken dependencies - cron: '33 1 * * *' diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml index 6325fd50d8..44d474ded4 100644 --- a/.github/workflows/humble-source-build.yml +++ b/.github/workflows/humble-source-build.yml @@ -4,6 +4,14 @@ on: push: branches: - humble + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/humble-source-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.humble.repos' schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 3 * * *' diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml index ab6642625f..be1aec6680 100644 --- a/.github/workflows/iron-abi-compatibility.yml +++ b/.github/workflows/iron-abi-compatibility.yml @@ -4,6 +4,15 @@ on: pull_request: branches: - iron + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/iron-abi-compatibility.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.iron.repos' jobs: abi_check: diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml index 1510fac859..802ca97bb8 100644 --- a/.github/workflows/iron-binary-build.yml +++ b/.github/workflows/iron-binary-build.yml @@ -9,9 +9,27 @@ on: - iron - '*feature*' - '*feature/**' + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/iron-binary-build.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.iron.repos' push: branches: - iron + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/iron-binary-build.yml' + - '**.yaml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.iron.repos' schedule: # Run every morning to detect flakiness and broken dependencies - cron: '03 1 * * *' diff --git a/.github/workflows/ci-check-docs.yml b/.github/workflows/iron-check-docs.yml similarity index 57% rename from .github/workflows/ci-check-docs.yml rename to .github/workflows/iron-check-docs.yml index 629279615b..f842902055 100644 --- a/.github/workflows/ci-check-docs.yml +++ b/.github/workflows/iron-check-docs.yml @@ -1,12 +1,18 @@ -name: Check Docs +name: Iron Check Docs on: workflow_dispatch: pull_request: + branches: + - iron + paths: + - '**.rst' + - '**.md' + - '**.yaml' jobs: check-docs: name: Check Docs - uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@master + uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@iron with: ROS2_CONTROLLERS_PR: ${{ github.ref }} diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml index d82c52bf51..bbc9c4e975 100644 --- a/.github/workflows/iron-coverage-build.yml +++ b/.github/workflows/iron-coverage-build.yml @@ -4,9 +4,29 @@ on: push: branches: - iron + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/iron-coverage-build.yml' + - 'codecov.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.iron.repos' pull_request: branches: - iron + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/iron-coverage-build.yml' + - 'codecov.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.iron.repos' jobs: coverage_iron: @@ -14,4 +34,3 @@ jobs: secrets: inherit with: ros_distro: iron - os_name: ubuntu-22.04 diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml index e56e8940ad..105eb29aba 100644 --- a/.github/workflows/iron-debian-build.yml +++ b/.github/workflows/iron-debian-build.yml @@ -4,6 +4,15 @@ on: pull_request: branches: - iron + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/iron-debian-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.iron.repos' schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml index 60ad26d073..a128958031 100644 --- a/.github/workflows/iron-pre-commit.yml +++ b/.github/workflows/iron-pre-commit.yml @@ -11,4 +11,3 @@ jobs: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master with: ros_distro: iron - os_name: ubuntu-22.04 diff --git a/.github/workflows/iron-rhel-semi-binary-build.yml b/.github/workflows/iron-rhel-semi-binary-build.yml index 66ad427a98..109dac7550 100644 --- a/.github/workflows/iron-rhel-semi-binary-build.yml +++ b/.github/workflows/iron-rhel-semi-binary-build.yml @@ -4,6 +4,15 @@ on: pull_request: branches: - iron + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/iron-rhel-semi-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.iron.repos' schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml index 38ca4fe490..bf5edcaa56 100644 --- a/.github/workflows/iron-semi-binary-build.yml +++ b/.github/workflows/iron-semi-binary-build.yml @@ -8,9 +8,27 @@ on: - iron - '*feature*' - '*feature/**' + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/iron-semi-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.iron.repos' push: branches: - iron + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/iron-semi-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.iron.repos' schedule: # Run every morning to detect flakiness and broken dependencies - cron: '33 1 * * *' diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml index 2d12734df0..c460762259 100644 --- a/.github/workflows/iron-source-build.yml +++ b/.github/workflows/iron-source-build.yml @@ -4,6 +4,15 @@ on: push: branches: - iron + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/iron-source-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.iron.repos' schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 3 * * *' diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml new file mode 100644 index 0000000000..8e557b5ee3 --- /dev/null +++ b/.github/workflows/jazzy-abi-compatibility.yml @@ -0,0 +1,27 @@ +name: Jazzy - ABI Compatibility Check +on: + workflow_dispatch: + pull_request: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/jazzy-abi-compatibility.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.jazzy.repos' + +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 diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml new file mode 100644 index 0000000000..6ec46eb6c1 --- /dev/null +++ b/.github/workflows/jazzy-binary-build.yml @@ -0,0 +1,48 @@ +name: Jazzy Binary Build +# author: Denis Štogl +# description: 'Build & test all dependencies from released (binary) packages.' + +on: + workflow_dispatch: + pull_request: + branches: + - master + - '*feature*' + - '*feature/**' + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/jazzy-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.jazzy.repos' + push: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/jazzy-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.jazzy.repos' + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '03 1 * * *' + +jobs: + binary: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + fail-fast: false + matrix: + ROS_REPO: [main, testing] + with: + ros_distro: jazzy + ros_repo: ${{ matrix.ROS_REPO }} + upstream_workspace: ros2_controllers-not-released.jazzy.repos + ref_for_scheduled_build: master diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml new file mode 100644 index 0000000000..2f9eaf18bd --- /dev/null +++ b/.github/workflows/jazzy-check-docs.yml @@ -0,0 +1,18 @@ +name: Jazzy Check Docs + +on: + workflow_dispatch: + pull_request: + branches: + - master + paths: + - '**.rst' + - '**.md' + - '**.yaml' + +jobs: + check-docs: + name: Check Docs + uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@jazzy + with: + ROS2_CONTROLLERS_PR: ${{ github.ref }} diff --git a/.github/workflows/jazzy-coverage-build.yml b/.github/workflows/jazzy-coverage-build.yml new file mode 100644 index 0000000000..c96ac88c32 --- /dev/null +++ b/.github/workflows/jazzy-coverage-build.yml @@ -0,0 +1,41 @@ +name: Coverage Build - Jazzy +on: + workflow_dispatch: + # TODO(anyone) activate when branched for Jazzy + # push: + # branches: + # - master + # paths: + # - '**.hpp' + # - '**.h' + # - '**.cpp' + # - '.github/workflows/jazzy-coverage-build.yml' + # - '**.yaml' + # - '**/package.xml' + # - '**/CMakeLists.txt' + # - 'codecov.yml' + # - '**/package.xml' + # - '**/CMakeLists.txt' + # - 'ros2_controllers.jazzy.repos' + # pull_request: + # branches: + # - master + # paths: + # - '**.hpp' + # - '**.h' + # - '**.cpp' + # - '.github/workflows/jazzy-coverage-build.yml' + # - '**.yaml' + # - '**/package.xml' + # - '**/CMakeLists.txt' + # - 'codecov.yml' + # - '**/package.xml' + # - '**/CMakeLists.txt' + # - 'ros2_controllers.jazzy.repos' + +jobs: + coverage_jazzy: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master + secrets: inherit + with: + ros_distro: jazzy diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml new file mode 100644 index 0000000000..61a47d0f2e --- /dev/null +++ b/.github/workflows/jazzy-debian-build.yml @@ -0,0 +1,29 @@ +name: Debian Rolling Source Build +on: + workflow_dispatch: + pull_request: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/jazzy-debian-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.jazzy.repos' + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + + +jobs: + jazzy_debian: + name: Rolling debian build + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master + with: + ros_distro: jazzy + upstream_workspace: ros2_controllers.jazzy.repos + ref_for_scheduled_build: master + skip_packages: rqt_joint_trajectory_controller diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml new file mode 100644 index 0000000000..d9ec610bbc --- /dev/null +++ b/.github/workflows/jazzy-pre-commit.yml @@ -0,0 +1,13 @@ +name: Pre-Commit - Jazzy + +on: + workflow_dispatch: + pull_request: + branches: + - master + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: jazzy diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml new file mode 100644 index 0000000000..94ddfeb54f --- /dev/null +++ b/.github/workflows/jazzy-rhel-semi-binary-build.yml @@ -0,0 +1,28 @@ +name: RHEL Jazzy Semi-Binary Build +on: + workflow_dispatch: + pull_request: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/jazzy-rhel-semi-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.jazzy.repos' + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 1 * * *' + + +jobs: + jazzy_rhel: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master + with: + ros_distro: jazzy + upstream_workspace: ros2_controllers.jazzy.repos + ref_for_scheduled_build: master + skip_packages: rqt_joint_trajectory_controller diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml new file mode 100644 index 0000000000..7c5bdfc4dc --- /dev/null +++ b/.github/workflows/jazzy-semi-binary-build.yml @@ -0,0 +1,47 @@ +name: Jazzy Semi-Binary Build +# description: 'Build & test that compiles the main dependencies from source.' + +on: + workflow_dispatch: + pull_request: + branches: + - master + - '*feature*' + - '*feature/**' + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/jazzy-semi-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.jazzy.repos' + push: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/jazzy-semi-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.jazzy.repos' + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '33 1 * * *' + +jobs: + semi_binary: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master + strategy: + fail-fast: false + matrix: + ROS_REPO: [main, testing] + with: + ros_distro: jazzy + ros_repo: ${{ matrix.ROS_REPO }} + upstream_workspace: ros2_controllers.jazzy.repos + ref_for_scheduled_build: master diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml new file mode 100644 index 0000000000..f77e9a5060 --- /dev/null +++ b/.github/workflows/jazzy-source-build.yml @@ -0,0 +1,27 @@ +name: Jazzy Source Build +on: + workflow_dispatch: + push: + branches: + - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/jazzy-source-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.jazzy.repos' + schedule: + # Run every day to detect flakiness and broken dependencies + - cron: '03 3 * * *' + +jobs: + source: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master + with: + ros_distro: jazzy + ref: master + ros2_repo_branch: jazzy + container: ubuntu:24.04 diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml index 73055ef3e5..da3337554c 100644 --- a/.github/workflows/rolling-abi-compatibility.yml +++ b/.github/workflows/rolling-abi-compatibility.yml @@ -4,6 +4,15 @@ on: pull_request: branches: - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/rolling-abi-compatibility.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.rolling.repos' jobs: abi_check: diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml index d0be23f076..529c13ac64 100644 --- a/.github/workflows/rolling-binary-build.yml +++ b/.github/workflows/rolling-binary-build.yml @@ -9,9 +9,26 @@ on: - master - '*feature*' - '*feature/**' + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '.github/workflows/rolling-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.rolling.repos' push: branches: - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/rolling-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers-not-released.rolling.repos' schedule: # Run every morning to detect flakiness and broken dependencies - cron: '03 1 * * *' diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml new file mode 100644 index 0000000000..15b7eff57e --- /dev/null +++ b/.github/workflows/rolling-check-docs.yml @@ -0,0 +1,19 @@ +name: Rolling Check Docs + +on: + workflow_dispatch: + pull_request: + branches: + - master + paths: + - '**.rst' + - '**.md' + - '**.yaml' + - '.github/workflows/rolling-check-docs.yml' + +jobs: + check-docs: + name: Check Docs + uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@rolling + with: + ROS2_CONTROLLERS_PR: ${{ github.ref }} diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml index 8374afe8dc..3b4b195ff7 100644 --- a/.github/workflows/rolling-coverage-build.yml +++ b/.github/workflows/rolling-coverage-build.yml @@ -4,9 +4,29 @@ on: push: branches: - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/rolling-coverage-build.yml' + - 'codecov.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.rolling.repos' pull_request: branches: - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/rolling-coverage-build.yml' + - 'codecov.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.rolling.repos' jobs: coverage_rolling: @@ -14,4 +34,3 @@ jobs: secrets: inherit with: ros_distro: rolling - container: ubuntu:24.04 diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml index cecd67603f..c1313d7d5d 100644 --- a/.github/workflows/rolling-debian-build.yml +++ b/.github/workflows/rolling-debian-build.yml @@ -4,6 +4,15 @@ on: pull_request: branches: - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/rolling-debian-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.rolling.repos' schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml index 4d91d19100..7bc07ba802 100644 --- a/.github/workflows/rolling-pre-commit.yml +++ b/.github/workflows/rolling-pre-commit.yml @@ -11,4 +11,3 @@ jobs: uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master with: ros_distro: rolling - container: ubuntu:24.04 diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml index a175d951b4..6b7fb6b8c4 100644 --- a/.github/workflows/rolling-rhel-semi-binary-build.yml +++ b/.github/workflows/rolling-rhel-semi-binary-build.yml @@ -4,6 +4,15 @@ on: pull_request: branches: - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/rolling-rhel-semi-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.rolling.repos' schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 1 * * *' diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml index 4784654db8..db0cd33de5 100644 --- a/.github/workflows/rolling-semi-binary-build.yml +++ b/.github/workflows/rolling-semi-binary-build.yml @@ -8,9 +8,27 @@ on: - master - '*feature*' - '*feature/**' + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/rolling-semi-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.rolling.repos' push: branches: - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/rolling-semi-binary-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.rolling.repos' schedule: # Run every morning to detect flakiness and broken dependencies - cron: '33 1 * * *' diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml index ae38197455..66e53d1da1 100644 --- a/.github/workflows/rolling-source-build.yml +++ b/.github/workflows/rolling-source-build.yml @@ -4,6 +4,15 @@ on: push: branches: - master + paths: + - '**.hpp' + - '**.h' + - '**.cpp' + - '**.yaml' + - '.github/workflows/rolling-source-build.yml' + - '**/package.xml' + - '**/CMakeLists.txt' + - 'ros2_controllers.rolling.repos' schedule: # Run every day to detect flakiness and broken dependencies - cron: '03 3 * * *' diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rosdoc2.yml new file mode 100644 index 0000000000..0771248e79 --- /dev/null +++ b/.github/workflows/rosdoc2.yml @@ -0,0 +1,14 @@ +name: rosdoc2 + +on: + workflow_dispatch: + pull_request: + paths: + - ros2_controllers/doc/** + - ros2_controllers/rosdoc2.yaml + - ros2_controllers/package.xml + + +jobs: + check: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@master diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml index 8b9545dff1..6bedaa0c97 100644 --- a/.github/workflows/update-pre-commit.yml +++ b/.github/workflows/update-pre-commit.yml @@ -5,7 +5,7 @@ name: Auto Update pre-commit on: workflow_dispatch: schedule: - - cron: '0 0 * * 0' # Run every Sunday at midnight + - cron: '0 0 1 * *' # Runs at 00:00, on day 1 of the month jobs: auto_update_and_create_pr: diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index a34629da31..c75acbd76d 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -26,6 +26,7 @@ repos: - id: check-symlinks - id: check-xml - id: check-yaml + args: ["--allow-multiple-documents"] - id: debug-statements - id: end-of-file-fixer - id: mixed-line-ending @@ -62,7 +63,7 @@ repos: # CPP hooks - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v18.1.4 + rev: v18.1.5 hooks: - id: clang-format args: ['-fallback-style=none', '-i'] @@ -104,6 +105,7 @@ repos: description: Check if copyright notice is available in all files. entry: ament_copyright language: system + exclude: .*/conf\.py$ # Docs - RestructuredText hooks - repo: https://github.com/PyCQA/doc8 @@ -124,14 +126,14 @@ repos: # Spellcheck in comments and docs # skipping of *.svg files is not working... - repo: https://github.com/codespell-project/codespell - rev: v2.2.6 + rev: v2.3.0 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: 0.28.2 + rev: 0.28.4 hooks: - id: check-github-workflows args: ["--verbose"] diff --git a/README.md b/README.md index 7223ceae85..57a9ecdda1 100644 --- a/README.md +++ b/README.md @@ -9,7 +9,8 @@ Commonly used and generalized controllers for ros2-control framework that are re ROS2 Distro | Branch | Build status | Documentation | Released packages :---------: | :----: | :----------: | :-----------: | :---------------: -**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling) +**Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master)
[![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling) +**Jazzy** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml?branch=master)
[![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/jazzy/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#jazzy) **Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml?branch=master)
[![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/iron/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron) **Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master)
[![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index f14bd8ba01..5cfdefb83b 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ +* Add parameter check for geometric values (`#1120 `_) +* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.7.0 (2024-03-22) ------------------ * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 771494e67f..7b66dd765b 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 4.7.0 + 4.9.0 Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it. Apache License 2.0 Bence Magyar diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.cpp b/ackermann_steering_controller/src/ackermann_steering_controller.cpp index c3a7539c5a..d9d95bf8b5 100644 --- a/ackermann_steering_controller/src/ackermann_steering_controller.cpp +++ b/ackermann_steering_controller/src/ackermann_steering_controller.cpp @@ -62,28 +62,29 @@ bool AckermannSteeringController::update_odometry(const rclcpp::Duration & perio } else { - const double rear_right_wheel_value = state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value(); - const double rear_left_wheel_value = state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value(); - const double front_right_steer_position = - state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value(); - const double front_left_steer_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value(); + const double traction_right_wheel_value = + state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value(); + const double traction_left_wheel_value = + state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value(); + const double steering_right_position = state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value(); + const double steering_left_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value(); if ( - !std::isnan(rear_right_wheel_value) && !std::isnan(rear_left_wheel_value) && - !std::isnan(front_right_steer_position) && !std::isnan(front_left_steer_position)) + std::isfinite(traction_right_wheel_value) && std::isfinite(traction_left_wheel_value) && + std::isfinite(steering_right_position) && std::isfinite(steering_left_position)) { if (params_.position_feedback) { // Estimate linear and angular velocity using joint information odometry_.update_from_position( - rear_right_wheel_value, rear_left_wheel_value, front_right_steer_position, - front_left_steer_position, period.seconds()); + traction_right_wheel_value, traction_left_wheel_value, steering_right_position, + steering_left_position, period.seconds()); } else { // Estimate linear and angular velocity using joint information odometry_.update_from_velocity( - rear_right_wheel_value, rear_left_wheel_value, front_right_steer_position, - front_left_steer_position, period.seconds()); + traction_right_wheel_value, traction_left_wheel_value, steering_right_position, + steering_left_position, period.seconds()); } } } diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.yaml b/ackermann_steering_controller/src/ackermann_steering_controller.yaml index 3726146919..1ec0b41c9f 100644 --- a/ackermann_steering_controller/src/ackermann_steering_controller.yaml +++ b/ackermann_steering_controller/src/ackermann_steering_controller.yaml @@ -5,6 +5,9 @@ ackermann_steering_controller: default_value: 0.0, description: "Front wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase", read_only: false, + validation: { + gt<>: [0.0] + } } rear_wheel_track: @@ -13,6 +16,9 @@ ackermann_steering_controller: default_value: 0.0, description: "Rear wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase", read_only: false, + validation: { + gt<>: [0.0] + } } wheelbase: @@ -21,6 +27,9 @@ ackermann_steering_controller: default_value: 0.0, description: "Distance between front and rear wheels. For details see: https://en.wikipedia.org/wiki/Wheelbase", read_only: false, + validation: { + gt<>: [0.0] + } } front_wheels_radius: @@ -29,6 +38,9 @@ ackermann_steering_controller: default_value: 0.0, description: "Front wheels radius.", read_only: false, + validation: { + gt<>: [0.0] + } } rear_wheels_radius: @@ -37,4 +49,7 @@ ackermann_steering_controller: default_value: 0.0, description: "Rear wheels radius.", read_only: false, + validation: { + gt<>: [0.0] + } } diff --git a/ackermann_steering_controller/test/ackermann_steering_controller_params.yaml b/ackermann_steering_controller/test/ackermann_steering_controller_params.yaml index 6b64f901c3..6064814d32 100644 --- a/ackermann_steering_controller/test/ackermann_steering_controller_params.yaml +++ b/ackermann_steering_controller/test/ackermann_steering_controller_params.yaml @@ -6,7 +6,6 @@ test_ackermann_steering_controller: open_loop: false velocity_rolling_window_size: 10 position_feedback: false - use_stamped_vel: true rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint] front_wheels_names: [front_right_steering_joint, front_left_steering_joint] diff --git a/ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml b/ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml index ecb1b071e3..5d42adcdd5 100644 --- a/ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml +++ b/ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml @@ -5,7 +5,6 @@ test_ackermann_steering_controller: open_loop: false velocity_rolling_window_size: 10 position_feedback: false - use_stamped_vel: true rear_wheels_names: [pid_controller/rear_right_wheel_joint, pid_controller/rear_left_wheel_joint] front_wheels_names: [pid_controller/front_right_steering_joint, pid_controller/front_left_steering_joint] rear_wheels_state_names: [rear_right_wheel_joint, rear_left_wheel_joint] diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp index a047186d14..49331ae8a2 100644 --- a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp +++ b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp @@ -280,7 +280,6 @@ class AckermannSteeringControllerFixture : public ::testing::Test bool open_loop_ = false; unsigned int velocity_rolling_window_size_ = 10; bool position_feedback_ = false; - bool use_stamped_vel_ = true; std::vector rear_wheels_names_ = {"rear_right_wheel_joint", "rear_left_wheel_joint"}; std::vector front_wheels_names_ = { "front_right_steering_joint", "front_left_steering_joint"}; diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index 7dd8e0b321..1a2dd8ed96 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ * Use CMake target for eigen (`#1058 `_) diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index e9779eda4d..2add40baf7 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 4.7.0 + 4.9.0 Implementation of admittance controllers for different input and output interface. Denis Štogl Bence Magyar diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index de67c5bc72..8c3d27e24f 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ +* Add parameter check for geometric values (`#1120 `_) +* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.7.0 (2024-03-22) ------------------ * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index 97c12290df..bcad405abe 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 4.7.0 + 4.9.0 Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/bicycle_steering_controller/src/bicycle_steering_controller.cpp b/bicycle_steering_controller/src/bicycle_steering_controller.cpp index 5f013d7d7a..95eaf1965c 100644 --- a/bicycle_steering_controller/src/bicycle_steering_controller.cpp +++ b/bicycle_steering_controller/src/bicycle_steering_controller.cpp @@ -60,19 +60,19 @@ bool BicycleSteeringController::update_odometry(const rclcpp::Duration & period) } else { - const double rear_wheel_value = state_interfaces_[STATE_TRACTION_WHEEL].get_value(); - const double steer_position = state_interfaces_[STATE_STEER_AXIS].get_value(); - if (!std::isnan(rear_wheel_value) && !std::isnan(steer_position)) + const double traction_wheel_value = state_interfaces_[STATE_TRACTION_WHEEL].get_value(); + const double steering_position = state_interfaces_[STATE_STEER_AXIS].get_value(); + if (std::isfinite(traction_wheel_value) && std::isfinite(steering_position)) { if (params_.position_feedback) { // Estimate linear and angular velocity using joint information - odometry_.update_from_position(rear_wheel_value, steer_position, period.seconds()); + odometry_.update_from_position(traction_wheel_value, steering_position, period.seconds()); } else { // Estimate linear and angular velocity using joint information - odometry_.update_from_velocity(rear_wheel_value, steer_position, period.seconds()); + odometry_.update_from_velocity(traction_wheel_value, steering_position, period.seconds()); } } } diff --git a/bicycle_steering_controller/src/bicycle_steering_controller.yaml b/bicycle_steering_controller/src/bicycle_steering_controller.yaml index c40e27ef96..fde323ef74 100644 --- a/bicycle_steering_controller/src/bicycle_steering_controller.yaml +++ b/bicycle_steering_controller/src/bicycle_steering_controller.yaml @@ -5,6 +5,9 @@ bicycle_steering_controller: default_value: 0.0, description: "Distance between front and rear wheel. For details see: https://en.wikipedia.org/wiki/Wheelbase", read_only: false, + validation: { + gt<>: [0.0] + } } front_wheel_radius: @@ -13,6 +16,9 @@ bicycle_steering_controller: default_value: 0.0, description: "Front wheel radius.", read_only: false, + validation: { + gt<>: [0.0] + } } rear_wheel_radius: @@ -21,4 +27,7 @@ bicycle_steering_controller: default_value: 0.0, description: "Rear wheel radius.", read_only: false, + validation: { + gt<>: [0.0] + } } diff --git a/bicycle_steering_controller/test/bicycle_steering_controller_params.yaml b/bicycle_steering_controller/test/bicycle_steering_controller_params.yaml index a2a6c6508b..3a656cc724 100644 --- a/bicycle_steering_controller/test/bicycle_steering_controller_params.yaml +++ b/bicycle_steering_controller/test/bicycle_steering_controller_params.yaml @@ -6,7 +6,6 @@ test_bicycle_steering_controller: open_loop: false velocity_rolling_window_size: 10 position_feedback: false - use_stamped_vel: true rear_wheels_names: [rear_wheel_joint] front_wheels_names: [steering_axis_joint] diff --git a/bicycle_steering_controller/test/bicycle_steering_controller_preceeding_params.yaml b/bicycle_steering_controller/test/bicycle_steering_controller_preceeding_params.yaml index 39ffeed878..e1b9c1ab72 100644 --- a/bicycle_steering_controller/test/bicycle_steering_controller_preceeding_params.yaml +++ b/bicycle_steering_controller/test/bicycle_steering_controller_preceeding_params.yaml @@ -5,7 +5,6 @@ test_bicycle_steering_controller: open_loop: false velocity_rolling_window_size: 10 position_feedback: false - use_stamped_vel: true rear_wheels_names: [pid_controller/rear_wheel_joint] front_wheels_names: [pid_controller/steering_axis_joint] rear_wheels_state_names: [rear_wheel_joint] diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp index 5e21ff228c..390447c25f 100644 --- a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp +++ b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp @@ -251,7 +251,6 @@ class BicycleSteeringControllerFixture : public ::testing::Test bool open_loop_ = false; unsigned int velocity_rolling_window_size_ = 10; bool position_feedback_ = false; - bool use_stamped_vel_ = true; std::vector rear_wheels_names_ = {"rear_wheel_joint"}; std::vector front_wheels_names_ = {"steering_axis_joint"}; std::vector joint_names_ = {rear_wheels_names_[0], front_wheels_names_[0]}; diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index ae38961d10..a4473f0f83 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,6 +2,20 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ +* Add mobile robot kinematics 101 and improve steering library docs (`#954 `_) +* Bump version of pre-commit hooks (`#1157 `_) +* Contributors: Christoph Fröhlich, github-actions[bot] + +4.8.0 (2024-05-14) +------------------ +* Remove non-existing parameter (`#1119 `_) +* Add parameter check for geometric values (`#1120 `_) +* Deprecate non-stamped twist for tricycle_controller and steering_controllers (`#1093 `_) +* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.7.0 (2024-03-22) ------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) diff --git a/diff_drive_controller/doc/userdoc.rst b/diff_drive_controller/doc/userdoc.rst index 70d0d7ca5c..29df4e55ba 100644 --- a/diff_drive_controller/doc/userdoc.rst +++ b/diff_drive_controller/doc/userdoc.rst @@ -11,6 +11,8 @@ As input it takes velocity commands for the robot body, which are translated to Odometry is computed from hardware feedback and published. +For an introduction to mobile robot kinematics and the nomenclature used here, see :ref:`mobile_robot_kinematics`. + Other features -------------- @@ -46,7 +48,7 @@ Subscribers ,,,,,,,,,,,, ~/cmd_vel [geometry_msgs/msg/TwistStamped] - Velocity command for the controller, if ``use_stamped_vel=true``. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored. + Velocity command for the controller. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored. Publishers diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index 5252803de9..8765d2506f 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 4.7.0 + 4.9.0 Controller for a differential drive mobile base. Bence Magyar Jordan Palacios diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp index 42b6cda8e1..a64f210503 100644 --- a/diff_drive_controller/src/diff_drive_controller.cpp +++ b/diff_drive_controller/src/diff_drive_controller.cpp @@ -352,7 +352,7 @@ controller_interface::CallbackReturn DiffDriveController::on_configure( received_velocity_msg_ptr_.set(std::move(msg)); }); - // initialize odometry publisher and messasge + // initialize odometry publisher and message odometry_publisher_ = get_node()->create_publisher( DEFAULT_ODOMETRY_TOPIC, rclcpp::SystemDefaultsQoS()); realtime_odometry_publisher_ = diff --git a/diff_drive_controller/src/diff_drive_controller_parameter.yaml b/diff_drive_controller/src/diff_drive_controller_parameter.yaml index 9720e068e1..755259cc2a 100644 --- a/diff_drive_controller/src/diff_drive_controller_parameter.yaml +++ b/diff_drive_controller/src/diff_drive_controller_parameter.yaml @@ -19,11 +19,17 @@ diff_drive_controller: type: double, default_value: 0.0, description: "Shortest distance between the left and right wheels. If this parameter is wrong, the robot will not behave correctly in curves.", + validation: { + gt<>: [0.0] + } } wheel_radius: { type: double, default_value: 0.0, description: "Radius of a wheel, i.e., wheels size, used for transformation of linear velocity into wheel rotations. If this parameter is wrong the robot will move faster or slower then expected.", + validation: { + gt<>: [0.0] + } } wheel_separation_multiplier: { type: double, diff --git a/diff_drive_controller/test/config/test_diff_drive_controller.yaml b/diff_drive_controller/test/config/test_diff_drive_controller.yaml index bfbf8f2d19..606bacbf4f 100644 --- a/diff_drive_controller/test/config/test_diff_drive_controller.yaml +++ b/diff_drive_controller/test/config/test_diff_drive_controller.yaml @@ -4,7 +4,6 @@ test_diff_drive_controller: right_wheel_names: ["right_wheels"] wheel_separation: 0.40 - wheels_per_side: 1 # actually 2, but both are controlled by 1 signal wheel_radius: 0.02 wheel_separation_multiplier: 1.0 diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp index 9ab3022a9f..f3f99ac8d8 100644 --- a/diff_drive_controller/test/test_diff_drive_controller.cpp +++ b/diff_drive_controller/test/test_diff_drive_controller.cpp @@ -184,6 +184,10 @@ class TestDiffDriveController : public ::testing::Test rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_joints_init))); parameter_overrides.push_back( rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_joints_init))); + // default parameters + parameter_overrides.push_back( + rclcpp::Parameter("wheel_separation", rclcpp::ParameterValue(1.0))); + parameter_overrides.push_back(rclcpp::Parameter("wheel_radius", rclcpp::ParameterValue(0.1))); parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end()); node_options.parameter_overrides(parameter_overrides); diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst index d042fe79dd..2cb55150ce 100644 --- a/doc/controllers_index.rst +++ b/doc/controllers_index.rst @@ -6,7 +6,7 @@ ros2_controllers ################# -Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, `MoveIt2 `_ and `Nav2 `_. +Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, `MoveIt2 `_ and `Nav2 `_. `Link to GitHub Repository `_ @@ -21,18 +21,15 @@ Guidelines and Best Practices * -Controllers for Mobile Robots -***************************** +Controllers for Wheeled Mobile Robots +************************************* .. toctree:: :titlesonly: - Ackermann Steering Controller <../ackermann_steering_controller/doc/userdoc.rst> - Bicycle Steering Controller <../bicycle_steering_controller/doc/userdoc.rst> Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst> Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst> Tricycle Controller <../tricycle_controller/doc/userdoc.rst> - Tricycle Steering Controller <../tricycle_steering_controller/doc/userdoc.rst> Controllers for Manipulators and Other Robots ********************************************* diff --git a/doc/images/.gitignore b/doc/images/.gitignore new file mode 100644 index 0000000000..8d71bf9cf4 --- /dev/null +++ b/doc/images/.gitignore @@ -0,0 +1 @@ +*.bkp diff --git a/doc/images/ackermann_steering.drawio b/doc/images/ackermann_steering.drawio new file mode 100644 index 0000000000..d0ddb06a56 --- /dev/null +++ b/doc/images/ackermann_steering.drawio @@ -0,0 +1,251 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/doc/images/ackermann_steering.svg b/doc/images/ackermann_steering.svg new file mode 100644 index 0000000000..1ca6ace166 --- /dev/null +++ b/doc/images/ackermann_steering.svg @@ -0,0 +1,3 @@ + + +
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Front wheel
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 diff --git a/doc/images/unicycle.drawio b/doc/images/unicycle.drawio new file mode 100644 index 0000000000..49a1f44b5a --- /dev/null +++ b/doc/images/unicycle.drawio @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/doc/images/unicycle.svg b/doc/images/unicycle.svg new file mode 100644 index 0000000000..826bbb1463 --- /dev/null +++ b/doc/images/unicycle.svg @@ -0,0 +1,3 @@ + + +
 diff --git a/doc/mobile_robot_kinematics.rst b/doc/mobile_robot_kinematics.rst new file mode 100644 index 0000000000..2ab4f1c0ee --- /dev/null +++ b/doc/mobile_robot_kinematics.rst @@ -0,0 +1,322 @@ +:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/mobile_robot_kinematics.rst + +.. _mobile_robot_kinematics: + +Wheeled Mobile Robot Kinematics +-------------------------------------------------------------- + +.. _siciliano: https://link.springer.com/book/10.1007/978-1-84628-642-1 +.. _modern_robotics: http://modernrobotics.org/ + +This page introduces the kinematics of different wheeled mobile robots. For further reference see `Siciliano et.al - Robotics: Modelling, Planning and Control `_ and `Kevin M. Lynch and Frank C. Park - Modern Robotics: Mechanics, Planning, And Control `_. + +Wheeled mobile robots can be classified in two categories: + +Omnidirectional robots + which can move instantaneously in any direction in the plane, and + +Nonholonomic robots + which cannot move instantaneously in any direction in the plane. + +The forward integration of the kinematic model using the encoders of the wheel actuators — is referred to as **odometric localization** or **passive localization** or **dead reckoning**. We will call it just **odometry**. + +Omnidirectional Wheeled Mobile Robots +..................................... + +Robots with omniwheels or mecanum wheels. Section will be updated if controllers for these robots are implemented. + +Nonholonomic Wheeled Mobile Robots +..................................... + +Unicycle model +,,,,,,,,,,,,,,,, + +To define the coordinate systems (`ROS coordinate frame conventions `__, the coordinate systems follow the right-hand rule), consider the following simple unicycle model + +.. image:: images/unicycle.svg + :width: 550 + :align: center + :alt: Unicycle + +* :math:`x_b,y_b` is the robot's body-frame coordinate system, located at the contact point of the wheel on the ground. +* :math:`x_w,y_w` is the world coordinate system. +* :math:`x,y` are the robot's Cartesian coordinates in the world coordinate system. +* :math:`\theta` is the robot's heading angle, i.e. the orientation of the robot's :math:`x_b`-axis w.r.t. the world's :math:`x_w`-axis. + +In the following, we want to command the robot with a desired body twist + +.. math:: + + \vec{\nu}_b = \begin{bmatrix} + \vec{\omega}_{b} \\ + \vec{v}_{b} + \end{bmatrix}, + +where :math:`\vec{v}_{b}` is the linear velocity of the robot in its body-frame, and :math:`\vec\omega_{b}` is the angular velocity of the robot in its body-frame. As we consider steering robots on a flat surface, it is sufficient to give + +* :math:`v_{b,x}`, i.e. the linear velocity of the robot in direction of the :math:`x_b` axis. +* :math:`\omega_{b,z}`, i.e. the angular velocity of the robot about the :math:`x_z` axis. + +as desired system inputs. The forward kinematics of the unicycle can be calculated with + +.. math:: + \dot{x} &= v_{b,x} \cos(\theta) \\ + \dot{y} &= v_{b,x} \sin(\theta) \\ + \dot{\theta} &= \omega_{b,z} + +We will formulate the inverse kinematics to calculate the desired commands for the robot (wheel speed or steering) from the given body twist. + +Differential Drive Robot +,,,,,,,,,,,,,,,,,,,,,,,, + +Citing `Siciliano et.al - Robotics: Modelling, Planning and Control `_: + +.. code-block:: text + + A unicycle in the strict sense (i.e., a vehicle equipped with a single wheel) + is a robot with a serious problem of balance in static conditions. However, + there exist vehicles that are kinematically equivalent to a unicycle but more + stable from a mechanical viewpoint. + +One of these vehicles is the differential drive robot, which has two wheels, each of which is driven independently. + +.. image:: images/diff_drive.svg + :width: 550 + :align: center + :alt: Differential drive robot + +* :math:`w` is the wheel track (the distance between the wheels). + +**Forward Kinematics** + +The forward kinematics of the differential drive model can be calculated from the unicycle model above using + +.. math:: + v_{b,x} &= \frac{v_{right} + v_{left}}{2} \\ + \omega_{b,z} &= \frac{v_{right} - v_{left}}{w} + +**Inverse Kinematics** + +The necessary wheel speeds to achieve a desired body twist can be calculated with: + +.. math:: + + v_{left} &= v_{b,x} - \omega_{b,z} w / 2 \\ + v_{right} &= v_{b,x} + \omega_{b,z} w / 2 + + +**Odometry** + +We can use the forward kinematics equations above to calculate the robot's odometry directly from the encoder readings. + +Car-Like (Bicycle) Model +,,,,,,,,,,,,,,,,,,,,,,,, + +The following picture shows a car-like robot with two wheels, where the front wheel is steerable. This model is also known as the bicycle model. + +.. image:: images/car_like_robot.svg + :width: 550 + :align: center + :alt: Car-like robot + +* :math:`\phi` is the steering angle of the front wheel, counted positive in direction of rotation around :math:`x_z`-axis. +* :math:`v_{rear}, v_{front}` is the velocity of the rear and front wheel. +* :math:`l` is the wheelbase. + +We assume that the wheels are rolling without slipping. This means that the velocity of the contact point of the wheel with the ground is zero and the wheel's velocity points in the direction perpendicular to the wheel's axis. The **Instantaneous Center of Rotation** (ICR), i.e. the center of the circle around which the robot rotates, is located at the intersection of the lines that are perpendicular to the wheels' axes and pass through the contact points of the wheels with the ground. + +As a consequence of the no-slip condition, the velocity of the two wheels must satisfy the following constraint: + +.. math:: + v_{rear} = v_{front} \cos(\phi) + +**Forward Kinematics** + +The forward kinematics of the car-like model can be calculated with + +.. math:: + \dot{x} &= v_{b,x} \cos(\theta) \\ + \dot{y} &= v_{b,x} \sin(\theta) \\ + \dot{\theta} &= \frac{v_{b,x}}{l} \tan(\phi) + + +**Inverse Kinematics** + +The steering angle is one command input of the robot: + +.. math:: + \phi = \arctan\left(\frac{l w_{b,z}}{v_{b,x}} \right) + + +For the rear-wheel drive, the velocity of the rear wheel is the second input of the robot: + +.. math:: + v_{rear} = v_{b,x} + + +For the front-wheel drive, the velocity of the front wheel is the second input of the robot: + +.. math:: + v_{front} = \frac{v_{b,x}}{\cos(\phi)} + +**Odometry** + +We have to distinguish between two cases: Encoders on the rear wheel or on the front wheel. + +For the rear wheel case: + +.. math:: + \dot{x} &= v_{rear} \cos(\theta) \\ + \dot{y} &= v_{rear} \sin(\theta) \\ + \dot{\theta} &= \frac{v_{rear}}{l} \tan(\phi) + + +For the front wheel case: + +.. math:: + \dot{x} &= v_{front} \cos(\theta) \cos(\phi)\\ + \dot{y} &= v_{front} \sin(\theta) \cos(\phi)\\ + \dot{\theta} &= \frac{v_{front}}{l} \sin(\phi) + + +Double-Traction Axle +,,,,,,,,,,,,,,,,,,,,, + +The following image shows a car-like robot with three wheels, with two independent traction wheels at the rear. + +.. image:: images/double_traction.svg + :width: 550 + :align: center + :alt: A car-like robot with two traction wheels at the rear + +* :math:`w_r` is the wheel track of the rear axle. + +**Forward Kinematics** + +The forward kinematics is the same as the car-like model above. + +**Inverse Kinematics** + +The turning radius of the robot is + +.. math:: + R_b = \frac{l}{\tan(\phi)} + +Then the velocity of the rear wheels must satisfy these conditions to avoid skidding + +.. math:: + v_{rear,left} &= v_{b,x}\frac{R_b - w_r/2}{R_b}\\ + v_{rear,right} &= v_{b,x}\frac{R_b + w_r/2}{R_b} + +**Odometry** + +The calculation of :math:`v_{b,x}` from two encoder measurements of the traction axle is overdetermined. +If there is no slip and the encoders are ideal, + +.. math:: + v_{b,x} = v_{rear,left} \frac{R_b}{R_b - w_r/2} = v_{rear,right} \frac{R_b}{R_b + w_r/2} + +holds. But to get a more robust solution, we take the average of both , i.e., + +.. math:: + v_{b,x} = 0.5 \left(v_{rear,left} \frac{R_b}{R_b - w_r/2} + v_{rear,right} \frac{R_b}{R_b + w_r/2}\right). + + +Ackermann Steering +,,,,,,,,,,,,,,,,,,,,, + +The following image shows a four-wheeled robot with two independent steering wheels in the front. + +.. image:: images/ackermann_steering.svg + :width: 550 + :align: center + :alt: A car-like robot with two steering wheels at the front + +* :math:`w_f` is the wheel track of the front axle, measured between the two kingpins. + +To prevent the front wheels from slipping, the steering angle of the front wheels cannot be equal. +This is the so-called **Ackermann steering**. + +.. note:: + Ackermann steering can also be achieved by a `mechanical linkage between the two front wheels `__. In this case the robot has only one steering input, and the steering angle of the two front wheels is mechanically coupled. The inverse kinematics of the robot will then be the same as in the car-like model above. + +**Forward Kinematics** + +The forward kinematics is the same as for the car-like model above. + +**Inverse Kinematics** + +The turning radius of the robot is + +.. math:: + R_b = \frac{l}{\tan(\phi)} + +Then the steering angles of the front wheels must satisfy these conditions to avoid skidding + +.. math:: + \phi_{left} &= \arctan\left(\frac{l}{R_b - w_f/2}\right) &= \arctan\left(\frac{2l\sin(\phi)}{2l\cos(\phi) - w_f\sin(\phi)}\right)\\ + \phi_{right} &= \arctan\left(\frac{l}{R_b + w_f/2}\right) &= \arctan\left(\frac{2l\sin(\phi)}{2l\cos(\phi) + w_f\sin(\phi)}\right) + +**Odometry** + +The calculation of :math:`\phi` from two angle measurements of the steering axle is overdetermined. +If there is no slip and the measurements are ideal, + +.. math:: + \phi = \arctan\left(\frac{l\tan(\phi_{left})}{l + w_f/2 \tan(\phi_{left})}\right) = \arctan\left(\frac{l\tan(\phi_{right})}{l - w_f/2 \tan(\phi_{right})}\right) + +holds. But to get a more robust solution, we take the average of both , i.e., + +.. math:: + \phi = 0.5 \left(\arctan\left(\frac{l\tan(\phi_{left})}{l + w_f/2 \tan(\phi_{left})}\right) + \arctan\left(\frac{l\tan(\phi_{right})}{l - w_f/2 \tan(\phi_{right})}\right)\right). + +Ackermann Steering with Traction +,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, + +The following image shows a four-wheeled car-like robot with two independent steering wheels at the front, which are also driven independently. + +.. image:: images/ackermann_steering_traction.svg + :width: 550 + :align: center + :alt: A car-like robot with two steering wheels at the front, which are also independently driven. + +* :math:`d_{kp}` is the distance from the kingpin to the contact point of the front wheel with the ground. + +**Forward Kinematics** + +The forward kinematics is the same as the car-like model above. + +**Inverse Kinematics** + +To avoid slipping of the front wheels, the velocity of the front wheels cannot be equal and + +.. math:: + \frac{v_{front,left}}{R_{left}} = \frac{v_{front,right}}{R_{right}} = \frac{v_{b,x}}{R_b} + +with turning radius of the robot and the left/right front wheel + +.. math:: + R_b &= \frac{l}{\tan(\phi)} \\ + R_{left} &= \frac{l-d_{kp}\sin(\phi_{left})}{\sin(\phi_{left})}\\ + R_{right} &= \frac{l+d_{kp}\sin(\phi_{right})}{\sin(\phi_{right})}. + +This results in the following inverse kinematics equations + +.. math:: + v_{front,left} &= \frac{v_{b,x}(l-d_{kp}\sin(\phi_{left}))}{R_b\sin(\phi_{left})}\\ + v_{front,right} &= \frac{v_{b,x}(l+d_{kp}\sin(\phi_{right}))}{R_b\sin(\phi_{right})} + +with the steering angles of the front wheels from the Ackermann steering equations above. + +**Odometry** + +The calculation of :math:`v_{b,x}` from two encoder measurements of the traction axle is again overdetermined. +If there is no slip and the encoders are ideal, + +.. math:: + v_{b,x} = v_{front,left} \frac{R_b\sin(\phi_{left})}{l-d_{kp}\sin(\phi_{left})} = v_{front,right} \frac{R_b\sin(\phi_{right})}{l+d_{kp}\sin(\phi_{right})} + +holds. But to get a more robust solution, we take the average of both , i.e., + +.. math:: + v_{b,x} = 0.5 \left( v_{front,left} \frac{R_b\sin(\phi_{left})}{l-d_{kp}\sin(\phi_{left})} + v_{front,right} \frac{R_b\sin(\phi_{right})}{l+d_{kp}\sin(\phi_{right})}\right). diff --git a/doc/release_notes/Jazzy.rst b/doc/release_notes/Jazzy.rst index 8ecac3508f..4c5db18f3e 100644 --- a/doc/release_notes/Jazzy.rst +++ b/doc/release_notes/Jazzy.rst @@ -32,7 +32,7 @@ joint_trajectory_controller * Empty trajectory messages are discarded (`#902 `_). * Action field ``error_string`` is now filled with meaningful strings (`#887 `_). * Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 `_). -* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 `_). +* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 `_). ``angle_wraparound`` parameter was completely removed. pid_controller ************************ diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index 306cc24ff6..63b44cd218 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index 9acfdd2ddc..6519a07b07 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 4.7.0 + 4.9.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index f4cbbe1bec..deca56a197 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index dee37dd565..4576bbb8b0 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 4.7.0 + 4.9.0 Controller to publish state of force-torque sensors. Bence Magyar Denis Štogl diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 607ec25f23..3f1917dcad 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index 1aed0d3c83..b4f34fce8c 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 4.7.0 + 4.9.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst index bb4d699bd0..e0b5a0a311 100644 --- a/gripper_controllers/CHANGELOG.rst +++ b/gripper_controllers/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package gripper_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ * Fix usage of visibility macros (`#1039 `_) diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml index 7183bc7ebd..f4ee00591a 100644 --- a/gripper_controllers/package.xml +++ b/gripper_controllers/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> gripper_controllers - 4.7.0 + 4.9.0 The gripper_controllers package Bence Magyar diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index 6a9df05038..cebfc8d78c 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 3817b7a536..032e5addc1 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 4.7.0 + 4.9.0 Controller to publish readings of IMU sensors. Bence Magyar Denis Štogl diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 9762bcb55c..ec9b79726f 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index 14f226450e..a34c05b269 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 4.7.0 + 4.9.0 Broadcaster to publish joint state Bence Magyar Denis Stogl diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index d008380af9..544cf500ef 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,16 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ +* JTC trajectory end time validation fix (`#1090 `_) +* Contributors: Henry Moore + +4.8.0 (2024-05-14) +------------------ +* [JTC] Remove unused test code (`#1095 `_) +* Contributors: Bence Magyar + 4.7.0 (2024-03-22) ------------------ * Remove action_msg dependency (`#1077 `_) diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index a44d55a731..2c04d7fa23 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 4.7.0 + 4.9.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar Dr. Denis Štogl diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 4a4b63cb75..b80d1b7908 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -703,17 +703,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure( joints_angle_wraparound_.resize(dof_); for (size_t i = 0; i < dof_; ++i) { - const auto & gains = params_.gains.joints_map.at(params_.joints[i]); - if (gains.angle_wraparound) - { - // TODO(christophfroehlich): remove this warning in a future release (ROS-J) - RCLCPP_WARN( - logger, - "[Deprecated] Parameter 'gains..angle_wraparound' is deprecated. The " - "angle_wraparound is now used if a continuous joint is configured in the URDF."); - joints_angle_wraparound_[i] = true; - } - if (!urdf_.empty()) { auto urdf_joint = model_.getJoint(params_.joints[i]); @@ -1370,17 +1359,20 @@ bool JointTrajectoryController::validate_trajectory_msg( return false; } + if (trajectory.points.empty()) + { + RCLCPP_ERROR(get_node()->get_logger(), "Empty trajectory received."); + return false; + } + const auto trajectory_start_time = static_cast(trajectory.header.stamp); // If the starting time it set to 0.0, it means the controller should start it now. // Otherwise we check if the trajectory ends before the current time, // in which case it can be ignored. if (trajectory_start_time.seconds() != 0.0) { - auto trajectory_end_time = trajectory_start_time; - for (const auto & p : trajectory.points) - { - trajectory_end_time += p.time_from_start; - } + auto const trajectory_end_time = + trajectory_start_time + trajectory.points.back().time_from_start; if (trajectory_end_time < get_node()->now()) { RCLCPP_ERROR( @@ -1405,12 +1397,6 @@ bool JointTrajectoryController::validate_trajectory_msg( } } - if (trajectory.points.empty()) - { - RCLCPP_ERROR(get_node()->get_logger(), "Empty trajectory received."); - return false; - } - if (!params_.allow_nonzero_velocity_at_trajectory_end) { for (size_t i = 0; i < trajectory.points.back().velocities.size(); ++i) diff --git a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml index b17229cab8..8bd64b6314 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml +++ b/joint_trajectory_controller/src/joint_trajectory_controller_parameters.yaml @@ -122,12 +122,6 @@ joint_trajectory_controller: default_value: 0.0, description: "Feed-forward scaling :math:`k_{ff}` of velocity" } - angle_wraparound: { - type: bool, - default_value: false, - description: "[deprecated] For joints that wrap around (ie. are continuous). - Normalizes position-error to -pi to pi." - } constraints: stopped_velocity_tolerance: { type: double, diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index 0b00bd5380..611c1d4c1b 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -1384,6 +1384,17 @@ TEST_P(TrajectoryControllerTestParameterized, invalid_message) traj_msg = good_traj_msg; traj_msg.points.push_back(traj_msg.points.front()); EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg)); + + // End time in the past + traj_msg = good_traj_msg; + traj_msg.header.stamp = rclcpp::Time(1); + EXPECT_FALSE(traj_controller_->validate_trajectory_msg(traj_msg)); + + // End time in the future + traj_msg = good_traj_msg; + traj_msg.header.stamp = traj_controller_->get_node()->now(); + traj_msg.points[0].time_from_start = rclcpp::Duration::from_seconds(10); + EXPECT_TRUE(traj_controller_->validate_trajectory_msg(traj_msg)); } /** diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 82e631a75c..4b884dc386 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ +* [PID] Add example yaml to docs (`#951 `_) +* Contributors: Christoph Fröhlich + 4.7.0 (2024-03-22) ------------------ * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) diff --git a/pid_controller/package.xml b/pid_controller/package.xml index 151862dc11..be598f94ae 100644 --- a/pid_controller/package.xml +++ b/pid_controller/package.xml @@ -2,7 +2,7 @@ pid_controller - 4.7.0 + 4.9.0 Controller based on PID implememenation from control_toolbox package. Bence Magyar Denis Štogl diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index cdb4165691..f454aadc4e 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ diff --git a/position_controllers/package.xml b/position_controllers/package.xml index b56e3e154a..37bcdbe108 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 4.7.0 + 4.9.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 89365b7754..7dd295970d 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index 4cdae222a5..31e8b1755b 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 4.7.0 + 4.9.0 Controller to publish readings of Range sensors. Bence Magyar Florent Chretien diff --git a/ros2_controllers-not-released.jazzy.repos b/ros2_controllers-not-released.jazzy.repos new file mode 100644 index 0000000000..66352f4960 --- /dev/null +++ b/ros2_controllers-not-released.jazzy.repos @@ -0,0 +1,5 @@ +repositories: + generate_parameter_library: + type: git + url: https://github.com/picknikrobotics/generate_parameter_library.git + version: main diff --git a/ros2_controllers.jazzy.repos b/ros2_controllers.jazzy.repos new file mode 100644 index 0000000000..8c20eccc96 --- /dev/null +++ b/ros2_controllers.jazzy.repos @@ -0,0 +1,25 @@ +repositories: + ros2_control: + type: git + url: https://github.com/ros-controls/ros2_control.git + version: master + realtime_tools: + type: git + url: https://github.com/ros-controls/realtime_tools.git + version: master + control_msgs: + type: git + url: https://github.com/ros-controls/control_msgs.git + version: master + control_toolbox: + type: git + url: https://github.com/ros-controls/control_toolbox.git + version: ros2-master + kinematics_interface: + type: git + url: https://github.com/ros-controls/kinematics_interface.git + version: master + generate_parameter_library: + type: git + url: https://github.com/picknikrobotics/generate_parameter_library.git + version: main diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index 2d7e5f08de..af872ec8a3 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ +* Add custom rosdoc2 config for ros2_controllers metapackage (`#1100 `_) +* Contributors: Christoph Fröhlich + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ diff --git a/ros2_controllers/doc/conf.py b/ros2_controllers/doc/conf.py new file mode 100644 index 0000000000..b6134e9abd --- /dev/null +++ b/ros2_controllers/doc/conf.py @@ -0,0 +1,5 @@ +# Configuration file for the Sphinx documentation builder. +# settings will be overridden by rosdoc2, so we add here only custom settings + +copyright = "2024, ros2_control development team" +html_logo = "https://control.ros.org/master/_static/logo_ros-controls.png" diff --git a/ros2_controllers/doc/index.rst b/ros2_controllers/doc/index.rst new file mode 100644 index 0000000000..f785112944 --- /dev/null +++ b/ros2_controllers/doc/index.rst @@ -0,0 +1,80 @@ +Welcome to the documentation for ros2_controllers +================================================= + +For more information of the ros2_control framework see `control.ros.org `__. + +.. list-table:: + :header-rows: 1 + + * - Package Name + - Documentation + - API + - ROS Index + * - ackermann_steering_controller + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - admittance_controller + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - bicycle_steering_controller + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - diff_drive_controller + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - effort_controllers + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - force_torque_sensor_broadcaster + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - forward_command_controller + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - imu_sensor_broadcaster + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - joint_state_broadcaster + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - joint_trajectory_controller + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - pid_controller + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - position_controllers + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - range_sensor_broadcaster + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - steering_controllers_library + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - tricycle_controller + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - tricycle_steering_controller + - `Documentation `__ + - `API `__ + - `ROS Index `__ + * - velocity_controllers + - `Documentation `__ + - `API `__ + - `ROS Index `__ diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index fc2e40fb8a..278ecb0b1a 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,13 +1,15 @@ ros2_controllers - 4.7.0 + 4.9.0 Metapackage for ROS2 controllers related packages Bence Magyar Jordan Palacios Apache License 2.0 + https://control.ros.org + ament_cmake ackermann_steering_controller diff --git a/ros2_controllers/rosdoc2.yaml b/ros2_controllers/rosdoc2.yaml new file mode 100644 index 0000000000..c5ec1b53a0 --- /dev/null +++ b/ros2_controllers/rosdoc2.yaml @@ -0,0 +1,20 @@ +type: 'rosdoc2 config' +version: 1 + +--- + +settings: + # Not generating any documentation of code + generate_package_index: false + always_run_doxygen: false + enable_breathe: false + enable_exhale: false + always_run_sphinx_apidoc: false + +builders: + # Configure Sphinx with the location of the docs: + - sphinx: { + name: 'ros2_controllers', + sphinx_sourcedir: 'doc', + output_dir: '' + } diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index a77c2635e8..19ead3093f 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index fef330a0c7..c321c9703d 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 4.7.0 + 4.9.0 Demo nodes for showing and testing functionalities of the ros2_control framework. Denis Štogl diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py index 273957f688..e0dfb4d65e 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="4.7.0", + version="4.9.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index 416c399cc6..121a5066c2 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ +* [RQT-JTC] limits from jtc controlled joints (`#1146 `_) +* Contributors: Jakub Delicat + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ * [CI] Code coverage + pre-commit (`#1057 `_) diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index c7ec8d4666..68a173217a 100644 --- a/rqt_joint_trajectory_controller/package.xml +++ b/rqt_joint_trajectory_controller/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> rqt_joint_trajectory_controller - 4.7.0 + 4.9.0 Graphical frontend for interacting with joint_trajectory_controller instances. Bence Magyar diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_limits_urdf.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_limits_urdf.py index 5655e12f7a..bdde80dd54 100644 --- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_limits_urdf.py +++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_limits_urdf.py @@ -45,7 +45,7 @@ def subscribe_to_robot_description(node, key="robot_description"): node.create_subscription(String, key, callback, qos_profile) -def get_joint_limits(node, use_smallest_joint_limits=True): +def get_joint_limits(node, joints_names, use_smallest_joint_limits=True): global description use_small = use_smallest_joint_limits use_mimic = True @@ -71,54 +71,56 @@ def get_joint_limits(node, use_smallest_joint_limits=True): if jtype == "fixed": continue name = child.getAttribute("name") - try: - limit = child.getElementsByTagName("limit")[0] + + if name in joints_names: try: - minval = float(limit.getAttribute("lower")) - maxval = float(limit.getAttribute("upper")) - except ValueError: - if jtype == "continuous": - minval = -pi - maxval = pi - else: + limit = child.getElementsByTagName("limit")[0] + try: + minval = float(limit.getAttribute("lower")) + maxval = float(limit.getAttribute("upper")) + except ValueError: + if jtype == "continuous": + minval = -pi + maxval = pi + else: + raise Exception( + f"Missing lower/upper position limits for the joint : {name} of type : {jtype} in the robot_description!" + ) + try: + maxvel = float(limit.getAttribute("velocity")) + except ValueError: raise Exception( - f"Missing lower/upper position limits for the joint : {name} of type : {jtype} in the robot_description!" + f"Missing velocity limits for the joint : {name} of type : {jtype} in the robot_description!" ) - try: - maxvel = float(limit.getAttribute("velocity")) - except ValueError: + except IndexError: raise Exception( - f"Missing velocity limits for the joint : {name} of type : {jtype} in the robot_description!" + f"Missing limits tag for the joint : {name} in the robot_description!" ) - except IndexError: - raise Exception( - f"Missing limits tag for the joint : {name} in the robot_description!" - ) - safety_tags = child.getElementsByTagName("safety_controller") - if use_small and len(safety_tags) == 1: - tag = safety_tags[0] - if tag.hasAttribute("soft_lower_limit"): - minval = max(minval, float(tag.getAttribute("soft_lower_limit"))) - if tag.hasAttribute("soft_upper_limit"): - maxval = min(maxval, float(tag.getAttribute("soft_upper_limit"))) - - mimic_tags = child.getElementsByTagName("mimic") - if use_mimic and len(mimic_tags) == 1: - tag = mimic_tags[0] - entry = {"parent": tag.getAttribute("joint")} - if tag.hasAttribute("multiplier"): - entry["factor"] = float(tag.getAttribute("multiplier")) - if tag.hasAttribute("offset"): - entry["offset"] = float(tag.getAttribute("offset")) - - dependent_joints[name] = entry - continue - - if name in dependent_joints: - continue - - joint = {"min_position": minval, "max_position": maxval} - joint["has_position_limits"] = jtype != "continuous" - joint["max_velocity"] = maxvel - free_joints[name] = joint + safety_tags = child.getElementsByTagName("safety_controller") + if use_small and len(safety_tags) == 1: + tag = safety_tags[0] + if tag.hasAttribute("soft_lower_limit"): + minval = max(minval, float(tag.getAttribute("soft_lower_limit"))) + if tag.hasAttribute("soft_upper_limit"): + maxval = min(maxval, float(tag.getAttribute("soft_upper_limit"))) + + mimic_tags = child.getElementsByTagName("mimic") + if use_mimic and len(mimic_tags) == 1: + tag = mimic_tags[0] + entry = {"parent": tag.getAttribute("joint")} + if tag.hasAttribute("multiplier"): + entry["factor"] = float(tag.getAttribute("multiplier")) + if tag.hasAttribute("offset"): + entry["offset"] = float(tag.getAttribute("offset")) + + dependent_joints[name] = entry + continue + + if name in dependent_joints: + continue + + joint = {"min_position": minval, "max_position": maxval} + joint["has_position_limits"] = jtype != "continuous" + joint["max_velocity"] = maxvel + free_joints[name] = joint return free_joints diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py index 72c11625e4..4cc6c901af 100644 --- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py +++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py @@ -238,7 +238,8 @@ def _update_jtc_list(self): # for _all_ their joints running_jtc = self._running_jtc_info() if running_jtc and not self._robot_joint_limits: - self._robot_joint_limits = get_joint_limits(self._node) # Lazy evaluation + for jtc_info in running_jtc: + self._robot_joint_limits = get_joint_limits(self._node, _jtc_joint_names(jtc_info)) valid_jtc = [] if self._robot_joint_limits: for jtc_info in running_jtc: diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index 0339f47b5a..e9a19034c6 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -21,7 +21,7 @@ setup( name=package_name, - version="4.7.0", + version="4.9.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index 43e3cc30da..e1cdc069df 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ +* Add mobile robot kinematics 101 and improve steering library docs (`#954 `_) +* Fix correct usage of angular velocity in update_odometry() function (`#1118 `_) +* Contributors: Christoph Fröhlich, Ferry Schoenmakers + +4.8.0 (2024-05-14) +------------------ +* Deprecate non-stamped twist for tricycle_controller and steering_controllers (`#1093 `_) +* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.7.0 (2024-03-22) ------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) diff --git a/steering_controllers_library/doc/userdoc.rst b/steering_controllers_library/doc/userdoc.rst index df3d1529d0..a52e34c120 100644 --- a/steering_controllers_library/doc/userdoc.rst +++ b/steering_controllers_library/doc/userdoc.rst @@ -5,17 +5,25 @@ steering_controllers_library ============================= -Library with shared functionalities for mobile robot controllers with steering drive (2 degrees of freedom). +.. _steering_controller_status_msg: https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/SteeringControllerStatus.msg +.. _odometry_msg: https://github.com/ros2/common_interfaces/blob/{DISTRO}/nav_msgs/msg/Odometry.msg +.. _twist_msg: https://github.com/ros2/common_interfaces/blob/{DISTRO}/geometry_msgs/msg/TwistStamped.msg +.. _tf_msg: https://github.com/ros2/geometry2/blob/{DISTRO}/tf2_msgs/msg/TFMessage.msg + +Library with shared functionalities for mobile robot controllers with steering drives, with so-called non-holonomic constraints. + The library implements generic odometry and update methods and defines the main interfaces. -Nomenclature used for the controller is used from `wikipedia `_. +The update methods only use inverse kinematics, it does not implement any feedback control loops like path-tracking controllers etc. + +For an introduction to mobile robot kinematics and the nomenclature used here, see :ref:`mobile_robot_kinematics`. Execution logic of the controller ---------------------------------- -The controller uses velocity input, i.e., stamped or unstamped Twist messages where linear ``x`` and angular ``z`` components are used. -Angular component under +The controller uses velocity input, i.e., stamped `twist messages `_ where linear ``x`` and angular ``z`` components are used. Values in other components are ignored. + In the chain mode the controller provides two reference interfaces, one for linear velocity and one for steering angle position. Other relevant features are: @@ -24,68 +32,80 @@ Other relevant features are: * input command timeout based on a parameter. The command for the wheels are calculated using ``odometry`` library where based on concrete kinematics traction and steering commands are calculated. -Currently implemented kinematics in corresponding packages are: + +Currently implemented kinematics +-------------------------------------------------------------- * :ref:`Bicycle ` - with one steering and one drive joints; * :ref:`Tricylce ` - with one steering and two drive joints; -* :ref:`Ackermann ` - with two seering and two drive joints. +* :ref:`Ackermann ` - with two steering and two drive joints. +.. toctree:: + :hidden: + Bicycle <../../bicycle_steering_controller/doc/userdoc.rst> + Tricylce <../../tricycle_steering_controller/doc/userdoc.rst> + Ackermann <../../ackermann_steering_controller/doc/userdoc.rst> Description of controller's interfaces -------------------------------------- References (from a preceding controller) ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, -- /linear/velocity [double], in m/s -- /angular/position [double] # in [rad] -Commands -,,,,,,,,, -``front_steering == true`` +Used when controller is in chained mode (``in_chained_mode == true``). + +- ``/linear/velocity`` double, in m/s +- ``/angular/position`` double, in rad -- /position [double] # in [rad] -- /velocity [double] # in [m/s] +Command interfaces +,,,,,,,,,,,,,,,,,,, -``front_steering == false`` +If parameter ``front_steering == true`` -- /velocity [double] # in [m/s] -- /position [double] # in [rad] +- ``/position`` double, in rad +- ``/velocity`` double, in m/s + +If parameter ``front_steering == false`` + +- ``/velocity`` double, in m/s +- ``/position`` double, in rad + +State interfaces +,,,,,,,,,,,,,,,,, -States -,,,,,,, Depending on the ``position_feedback``, different feedback types are expected * ``position_feedback == true`` --> ``TRACTION_FEEDBACK_TYPE = position`` * ``position_feedback == false`` --> ``TRACTION_FEEDBACK_TYPE = velocity`` -``front_steering == true`` +If parameter ``front_steering == true`` -- /position [double] # in [rad] -- / [double] # in [m] or [m/s] +- ``/position`` double, in rad +- ``/`` double, in m or m/s -``front_steering == false`` +If parameter ``front_steering == false`` -- / [double] # [m] or [m/s] -- /position [double] # in [rad] +- ``/`` double, in m or m/s +- ``/position`` double, in rad Subscribers ,,,,,,,,,,,, + Used when controller is not in chained mode (``in_chained_mode == false``). -- /reference [geometry_msgs/msg/TwistStamped] - If parameter ``use_stamped_vel`` is ``true``. -- /reference_unstamped [geometry_msgs/msg/Twist] - If parameter ``use_stamped_vel`` is ``false``. +- ``/reference`` [`geometry_msgs/msg/TwistStamped `_] Publishers ,,,,,,,,,,, -- /odometry [nav_msgs/msg/Odometry] -- /tf_odometry [tf2_msgs/msg/TFMessage] -- /controller_state [control_msgs/msg/SteeringControllerStatus] + +- ``/odometry`` [`nav_msgs/msg/Odometry `_] +- ``/tf_odometry`` [`tf2_msgs/msg/TFMessage `_] +- ``/controller_state`` [`control_msgs/msg/SteeringControllerStatus `_] Parameters ,,,,,,,,,,, + This controller uses the `generate_parameter_library `_ to handle its parameters. For an exemplary parameterization see the ``test`` folder of the controller's package. diff --git a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp index b560e2a782..c11d90dc6f 100644 --- a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp +++ b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp @@ -98,7 +98,6 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl // Command subscribers and Controller State publisher rclcpp::Subscription::SharedPtr ref_subscriber_twist_ = nullptr; rclcpp::Subscription::SharedPtr ref_subscriber_ackermann_ = nullptr; - rclcpp::Subscription::SharedPtr ref_subscriber_unstamped_ = nullptr; realtime_tools::RealtimeBuffer> input_ref_; rclcpp::Duration ref_timeout_ = rclcpp::Duration::from_seconds(0.0); // 0ms @@ -143,7 +142,6 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl // callback for topic interface STEERING_CONTROLLERS__VISIBILITY_LOCAL void reference_callback( const std::shared_ptr msg); - void reference_callback_unstamped(const std::shared_ptr msg); }; } // namespace steering_controllers_library diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp index e4a22f6d3b..0104b011c7 100644 --- a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp +++ b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp @@ -61,7 +61,7 @@ class SteeringOdometry /** * \brief Updates the odometry class with latest wheels position * \param traction_wheel_pos traction wheel position [rad] - * \param steer_pos Front Steer position [rad] + * \param steer_pos Steer wheel position [rad] * \param dt time difference to last call * \return true if the odometry is actually updated */ @@ -72,7 +72,7 @@ class SteeringOdometry * \brief Updates the odometry class with latest wheels position * \param right_traction_wheel_pos Right traction wheel velocity [rad] * \param left_traction_wheel_pos Left traction wheel velocity [rad] - * \param front_steer_pos Steer wheel position [rad] + * \param steer_pos Steer wheel position [rad] * \param dt time difference to last call * \return true if the odometry is actually updated */ @@ -96,7 +96,7 @@ class SteeringOdometry /** * \brief Updates the odometry class with latest wheels position * \param traction_wheel_vel Traction wheel velocity [rad/s] - * \param front_steer_pos Steer wheel position [rad] + * \param steer_pos Steer wheel position [rad] * \param dt time difference to last call * \return true if the odometry is actually updated */ @@ -107,7 +107,7 @@ class SteeringOdometry * \brief Updates the odometry class with latest wheels position * \param right_traction_wheel_vel Right traction wheel velocity [rad/s] * \param left_traction_wheel_vel Left traction wheel velocity [rad/s] - * \param front_steer_pos Steer wheel position [rad] + * \param steer_pos Steer wheel position [rad] * \param dt time difference to last call * \return true if the odometry is actually updated */ @@ -130,11 +130,11 @@ class SteeringOdometry /** * \brief Updates the odometry class with latest velocity command - * \param linear Linear velocity [m/s] - * \param angular Angular velocity [rad/s] - * \param time Current time + * \param v_bx Linear velocity [m/s] + * \param omega_bz Angular velocity [rad/s] + * \param dt time difference to last call */ - void update_open_loop(const double linear, const double angular, const double dt); + void update_open_loop(const double v_bx, const double omega_bz, const double dt); /** * \brief Set odometry type @@ -175,22 +175,23 @@ class SteeringOdometry /** * \brief Sets the wheel parameters: radius, separation and wheelbase */ - void set_wheel_params(double wheel_radius, double wheelbase = 0.0, double wheel_track = 0.0); + void set_wheel_params( + const double wheel_radius, const double wheelbase = 0.0, const double wheel_track = 0.0); /** * \brief Velocity rolling window size setter * \param velocity_rolling_window_size Velocity rolling window size */ - void set_velocity_rolling_window_size(size_t velocity_rolling_window_size); + void set_velocity_rolling_window_size(const size_t velocity_rolling_window_size); /** * \brief Calculates inverse kinematics for the desired linear and angular velocities - * \param Vx Desired linear velocity [m/s] - * \param theta_dot Desired angular velocity [rad/s] + * \param v_bx Desired linear velocity of the robot in x_b-axis direction + * \param omega_bz Desired angular velocity of the robot around x_z-axis * \return Tuple of velocity commands and steering commands */ std::tuple, std::vector> get_commands( - const double Vx, const double theta_dot); + const double v_bx, const double omega_bz); /** * \brief Reset poses, heading, and accumulators @@ -199,35 +200,35 @@ class SteeringOdometry private: /** - * \brief Uses precomputed linear and angular velocities to compute dometry and update - * accumulators \param linear Linear velocity [m] (linear displacement, i.e. m/s * dt) - * computed by previous odometry method \param angular Angular velocity [rad] (angular - * displacement, i.e. m/s * dt) computed by previous odometry method + * \brief Uses precomputed linear and angular velocities to compute odometry + * \param v_bx Linear velocity [m/s] + * \param omega_bz Angular velocity [rad/s] + * \param dt time difference to last call */ - bool update_odometry(const double linear_velocity, const double angular, const double dt); + bool update_odometry(const double v_bx, const double omega_bz, const double dt); /** * \brief Integrates the velocities (linear and angular) using 2nd order Runge-Kutta - * \param linear Linear velocity [m] (linear displacement, i.e. m/s * dt) computed by - * encoders \param angular Angular velocity [rad] (angular displacement, i.e. m/s * dt) computed - * by encoders + * \param v_bx Linear velocity [m/s] + * \param omega_bz Angular velocity [rad/s] + * \param dt time difference to last call */ - void integrate_runge_kutta_2(double linear, double angular); + void integrate_runge_kutta_2(const double v_bx, const double omega_bz, const double dt); /** - * \brief Integrates the velocities (linear and angular) using exact method - * \param linear Linear velocity [m] (linear displacement, i.e. m/s * dt) computed by - * encoders \param angular Angular velocity [rad] (angular displacement, i.e. m/s * dt) computed - * by encoders + * \brief Integrates the velocities (linear and angular) + * \param v_bx Linear velocity [m/s] + * \param omega_bz Angular velocity [rad/s] + * \param dt time difference to last call */ - void integrate_exact(double linear, double angular); + void integrate_fk(const double v_bx, const double omega_bz, const double dt); /** - * \brief Calculates steering angle from the desired translational and rotational velocity - * \param Vx Linear velocity [m] - * \param theta_dot Angular velocity [rad] + * \brief Calculates steering angle from the desired twist + * \param v_bx Linear velocity of the robot in x_b-axis direction + * \param omega_bz Angular velocity of the robot around x_z-axis */ - double convert_trans_rot_vel_to_steering_angle(double Vx, double theta_dot); + double convert_twist_to_steering_angle(const double v_bx, const double omega_bz); /** * \brief Reset linear and angular accumulators diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 97d03dc809..08d252d794 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 4.7.0 + 4.9.0 Package for steering robot configurations including odometry and interfaces. Apache License 2.0 Bence Magyar diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp index eb497ebb3d..5880000d17 100644 --- a/steering_controllers_library/src/steering_controllers_library.cpp +++ b/steering_controllers_library/src/steering_controllers_library.cpp @@ -114,19 +114,9 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_configure( // Reference Subscriber ref_timeout_ = rclcpp::Duration::from_seconds(params_.reference_timeout); - if (params_.use_stamped_vel) - { - ref_subscriber_twist_ = get_node()->create_subscription( - "~/reference", subscribers_qos, - std::bind(&SteeringControllersLibrary::reference_callback, this, std::placeholders::_1)); - } - else - { - ref_subscriber_unstamped_ = get_node()->create_subscription( - "~/reference_unstamped", subscribers_qos, - std::bind( - &SteeringControllersLibrary::reference_callback_unstamped, this, std::placeholders::_1)); - } + ref_subscriber_twist_ = get_node()->create_subscription( + "~/reference", subscribers_qos, + std::bind(&SteeringControllersLibrary::reference_callback, this, std::placeholders::_1)); std::shared_ptr msg = std::make_shared(); @@ -241,42 +231,6 @@ void SteeringControllersLibrary::reference_callback( } } -void SteeringControllersLibrary::reference_callback_unstamped( - const std::shared_ptr msg) -{ - RCLCPP_WARN( - get_node()->get_logger(), - "Use of Twist message without stamped is deprecated and it will be removed in ROS 2 J-Turtle " - "version. Use '~/reference' topic with 'geometry_msgs::msg::TwistStamped' message type in the " - "future."); - auto twist_stamped = *(input_ref_.readFromNonRT()); - twist_stamped->header.stamp = get_node()->now(); - // if no timestamp provided use current time for command timestamp - if (twist_stamped->header.stamp.sec == 0 && twist_stamped->header.stamp.nanosec == 0u) - { - RCLCPP_WARN( - get_node()->get_logger(), - "Timestamp in header is missing, using current time as command timestamp."); - twist_stamped->header.stamp = get_node()->now(); - } - - const auto age_of_last_command = get_node()->now() - twist_stamped->header.stamp; - - if (ref_timeout_ == rclcpp::Duration::from_seconds(0) || age_of_last_command <= ref_timeout_) - { - twist_stamped->twist = *msg; - } - else - { - RCLCPP_ERROR( - get_node()->get_logger(), - "Received message has timestamp %.10f older for %.10f which is more then allowed timeout " - "(%.4f).", - rclcpp::Time(twist_stamped->header.stamp).seconds(), age_of_last_command.seconds(), - ref_timeout_.seconds()); - } -} - controller_interface::InterfaceConfiguration SteeringControllersLibrary::command_interface_configuration() const { diff --git a/steering_controllers_library/src/steering_controllers_library.yaml b/steering_controllers_library/src/steering_controllers_library.yaml index a9f7fa75fb..711a780458 100644 --- a/steering_controllers_library/src/steering_controllers_library.yaml +++ b/steering_controllers_library/src/steering_controllers_library.yaml @@ -112,11 +112,3 @@ steering_controllers_library: position_feedback is true then ``HW_IF_POSITION`` is taken as interface type", read_only: false, } - - use_stamped_vel: { - type: bool, - default_value: false, - description: "Choice of vel type, if use_stamped_vel is false then ``geometry_msgs::msg::Twist`` is taken as vel msg type, if - use_stamped_vel is true then ``geometry_msgs::msg::TwistStamped`` is taken as vel msg type", - read_only: false, - } diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp index 6f58927bf9..a2961ce024 100644 --- a/steering_controllers_library/src/steering_odometry.cpp +++ b/steering_controllers_library/src/steering_odometry.cpp @@ -35,6 +35,8 @@ SteeringOdometry::SteeringOdometry(size_t velocity_rolling_window_size) wheelbase_(0.0), wheel_radius_(0.0), traction_wheel_old_pos_(0.0), + traction_right_wheel_old_pos_(0.0), + traction_left_wheel_old_pos_(0.0), velocity_rolling_window_size_(velocity_rolling_window_size), linear_acc_(velocity_rolling_window_size), angular_acc_(velocity_rolling_window_size) @@ -49,10 +51,10 @@ void SteeringOdometry::init(const rclcpp::Time & time) } bool SteeringOdometry::update_odometry( - const double linear_velocity, const double angular, const double dt) + const double linear_velocity, const double angular_velocity, const double dt) { /// Integrate odometry: - SteeringOdometry::integrate_exact(linear_velocity * dt, angular); + integrate_fk(linear_velocity, angular_velocity, dt); /// We cannot estimate the speed with very small time intervals: if (dt < 0.0001) @@ -62,7 +64,7 @@ bool SteeringOdometry::update_odometry( /// Estimate speeds using a rolling mean to filter them out: linear_acc_.accumulate(linear_velocity); - angular_acc_.accumulate(angular / dt); + angular_acc_.accumulate(angular_velocity); linear_ = linear_acc_.getRollingMean(); angular_ = angular_acc_.getRollingMean(); @@ -73,70 +75,47 @@ bool SteeringOdometry::update_odometry( bool SteeringOdometry::update_from_position( const double traction_wheel_pos, const double steer_pos, const double dt) { - /// Get current wheel joint positions: - const double traction_wheel_cur_pos = traction_wheel_pos * wheel_radius_; - const double traction_wheel_est_pos_diff = traction_wheel_cur_pos - traction_wheel_old_pos_; + const double traction_wheel_est_pos_diff = traction_wheel_pos - traction_wheel_old_pos_; /// Update old position with current: - traction_wheel_old_pos_ = traction_wheel_cur_pos; + traction_wheel_old_pos_ = traction_wheel_pos; - /// Compute linear and angular diff: - const double linear_velocity = traction_wheel_est_pos_diff / dt; - steer_pos_ = steer_pos; - const double angular = tan(steer_pos) * linear_velocity / wheelbase_; - - return update_odometry(linear_velocity, angular, dt); + return update_from_velocity(traction_wheel_est_pos_diff / dt, steer_pos, dt); } bool SteeringOdometry::update_from_position( const double traction_right_wheel_pos, const double traction_left_wheel_pos, const double steer_pos, const double dt) { - /// Get current wheel joint positions: - const double traction_right_wheel_cur_pos = traction_right_wheel_pos * wheel_radius_; - const double traction_left_wheel_cur_pos = traction_left_wheel_pos * wheel_radius_; - const double traction_right_wheel_est_pos_diff = - traction_right_wheel_cur_pos - traction_right_wheel_old_pos_; + traction_right_wheel_pos - traction_right_wheel_old_pos_; const double traction_left_wheel_est_pos_diff = - traction_left_wheel_cur_pos - traction_left_wheel_old_pos_; + traction_left_wheel_pos - traction_left_wheel_old_pos_; /// Update old position with current: - traction_right_wheel_old_pos_ = traction_right_wheel_cur_pos; - traction_left_wheel_old_pos_ = traction_left_wheel_cur_pos; - - const double linear_velocity = - (traction_right_wheel_est_pos_diff + traction_left_wheel_est_pos_diff) * 0.5 / dt; - steer_pos_ = steer_pos; - const double angular = tan(steer_pos_) * linear_velocity / wheelbase_; + traction_right_wheel_old_pos_ = traction_right_wheel_pos; + traction_left_wheel_old_pos_ = traction_left_wheel_pos; - return update_odometry(linear_velocity, angular, dt); + return update_from_velocity( + traction_right_wheel_est_pos_diff / dt, traction_left_wheel_est_pos_diff / dt, steer_pos, dt); } bool SteeringOdometry::update_from_position( const double traction_right_wheel_pos, const double traction_left_wheel_pos, const double right_steer_pos, const double left_steer_pos, const double dt) { - /// Get current wheel joint positions: - const double traction_right_wheel_cur_pos = traction_right_wheel_pos * wheel_radius_; - const double traction_left_wheel_cur_pos = traction_left_wheel_pos * wheel_radius_; - const double traction_right_wheel_est_pos_diff = - traction_right_wheel_cur_pos - traction_right_wheel_old_pos_; + traction_right_wheel_pos - traction_right_wheel_old_pos_; const double traction_left_wheel_est_pos_diff = - traction_left_wheel_cur_pos - traction_left_wheel_old_pos_; + traction_left_wheel_pos - traction_left_wheel_old_pos_; /// Update old position with current: - traction_right_wheel_old_pos_ = traction_right_wheel_cur_pos; - traction_left_wheel_old_pos_ = traction_left_wheel_cur_pos; - - /// Compute linear and angular diff: - const double linear_velocity = - (traction_right_wheel_est_pos_diff + traction_left_wheel_est_pos_diff) * 0.5 / dt; - steer_pos_ = (right_steer_pos + left_steer_pos) * 0.5; - const double angular = tan(steer_pos_) * linear_velocity / wheelbase_; + traction_right_wheel_old_pos_ = traction_right_wheel_pos; + traction_left_wheel_old_pos_ = traction_left_wheel_pos; - return update_odometry(linear_velocity, angular, dt); + return update_from_velocity( + traction_right_wheel_est_pos_diff / dt, traction_left_wheel_est_pos_diff / dt, right_steer_pos, + left_steer_pos, dt); } bool SteeringOdometry::update_from_velocity( @@ -144,9 +123,9 @@ bool SteeringOdometry::update_from_velocity( { steer_pos_ = steer_pos; double linear_velocity = traction_wheel_vel * wheel_radius_; - const double angular = tan(steer_pos) * linear_velocity / wheelbase_; + const double angular_velocity = tan(steer_pos) * linear_velocity / wheelbase_; - return update_odometry(linear_velocity, angular, dt); + return update_odometry(linear_velocity, angular_velocity, dt); } bool SteeringOdometry::update_from_velocity( @@ -157,9 +136,9 @@ bool SteeringOdometry::update_from_velocity( (right_traction_wheel_vel + left_traction_wheel_vel) * wheel_radius_ * 0.5; steer_pos_ = steer_pos; - const double angular = tan(steer_pos_) * linear_velocity / wheelbase_; + const double angular_velocity = tan(steer_pos_) * linear_velocity / wheelbase_; - return update_odometry(linear_velocity, angular, dt); + return update_odometry(linear_velocity, angular_velocity, dt); } bool SteeringOdometry::update_from_velocity( @@ -169,19 +148,19 @@ bool SteeringOdometry::update_from_velocity( steer_pos_ = (right_steer_pos + left_steer_pos) * 0.5; double linear_velocity = (right_traction_wheel_vel + left_traction_wheel_vel) * wheel_radius_ * 0.5; - const double angular = tan(steer_pos_) * linear_velocity / wheelbase_; + const double angular_velocity = tan(steer_pos_) * linear_velocity / wheelbase_; - return update_odometry(linear_velocity, angular, dt); + return update_odometry(linear_velocity, angular_velocity, dt); } -void SteeringOdometry::update_open_loop(const double linear, const double angular, const double dt) +void SteeringOdometry::update_open_loop(const double v_bx, const double omega_bz, const double dt) { /// Save last linear and angular velocity: - linear_ = linear; - angular_ = angular; + linear_ = v_bx; + angular_ = omega_bz; /// Integrate odometry: - SteeringOdometry::integrate_exact(linear * dt, angular * dt); + integrate_fk(v_bx, omega_bz, dt); } void SteeringOdometry::set_wheel_params(double wheel_radius, double wheelbase, double wheel_track) @@ -200,36 +179,37 @@ void SteeringOdometry::set_velocity_rolling_window_size(size_t velocity_rolling_ void SteeringOdometry::set_odometry_type(const unsigned int type) { config_type_ = type; } -double SteeringOdometry::convert_trans_rot_vel_to_steering_angle(double Vx, double theta_dot) +double SteeringOdometry::convert_twist_to_steering_angle(double v_bx, double omega_bz) { - if (theta_dot == 0 || Vx == 0) + if (omega_bz == 0 || v_bx == 0) { return 0; } - return std::atan(theta_dot * wheelbase_ / Vx); + return std::atan(omega_bz * wheelbase_ / v_bx); } std::tuple, std::vector> SteeringOdometry::get_commands( - const double Vx, const double theta_dot) + const double v_bx, const double omega_bz) { - // desired velocity and steering angle of the middle of traction and steering axis - double Ws, alpha; + // desired wheel speed and steering angle of the middle of traction and steering axis + double Ws, phi; - if (Vx == 0 && theta_dot != 0) + if (v_bx == 0 && omega_bz != 0) { - alpha = theta_dot > 0 ? M_PI_2 : -M_PI_2; - Ws = abs(theta_dot) * wheelbase_ / wheel_radius_; + // TODO(anyone) would be only valid if traction is on the steering axis -> tricycle_controller + phi = omega_bz > 0 ? M_PI_2 : -M_PI_2; + Ws = abs(omega_bz) * wheelbase_ / wheel_radius_; } else { - alpha = SteeringOdometry::convert_trans_rot_vel_to_steering_angle(Vx, theta_dot); - Ws = Vx / (wheel_radius_ * std::cos(steer_pos_)); + phi = SteeringOdometry::convert_twist_to_steering_angle(v_bx, omega_bz); + Ws = v_bx / (wheel_radius_ * std::cos(steer_pos_)); } if (config_type_ == BICYCLE_CONFIG) { std::vector traction_commands = {Ws}; - std::vector steering_commands = {alpha}; + std::vector steering_commands = {phi}; return std::make_tuple(traction_commands, steering_commands); } else if (config_type_ == TRICYCLE_CONFIG) @@ -242,12 +222,12 @@ std::tuple, std::vector> SteeringOdometry::get_comma } else { - double turning_radius = wheelbase_ / std::tan(steer_pos_); - double Wr = Ws * (turning_radius + wheel_track_ * 0.5) / turning_radius; - double Wl = Ws * (turning_radius - wheel_track_ * 0.5) / turning_radius; + const double turning_radius = wheelbase_ / std::tan(steer_pos_); + const double Wr = Ws * (turning_radius + wheel_track_ * 0.5) / turning_radius; + const double Wl = Ws * (turning_radius - wheel_track_ * 0.5) / turning_radius; traction_commands = {Wr, Wl}; } - steering_commands = {alpha}; + steering_commands = {phi}; return std::make_tuple(traction_commands, steering_commands); } else if (config_type_ == ACKERMANN_CONFIG) @@ -257,21 +237,23 @@ std::tuple, std::vector> SteeringOdometry::get_comma if (fabs(steer_pos_) < 1e-6) { traction_commands = {Ws, Ws}; - steering_commands = {alpha, alpha}; + steering_commands = {phi, phi}; } else { - double turning_radius = wheelbase_ / std::tan(steer_pos_); - double Wr = Ws * (turning_radius + wheel_track_ * 0.5) / turning_radius; - double Wl = Ws * (turning_radius - wheel_track_ * 0.5) / turning_radius; + const double turning_radius = wheelbase_ / std::tan(steer_pos_); + const double Wr = Ws * (turning_radius + wheel_track_ * 0.5) / turning_radius; + const double Wl = Ws * (turning_radius - wheel_track_ * 0.5) / turning_radius; traction_commands = {Wr, Wl}; - double numerator = 2 * wheelbase_ * std::sin(alpha); - double denominator_first_member = 2 * wheelbase_ * std::cos(alpha); - double denominator_second_member = wheel_track_ * std::sin(alpha); + const double numerator = 2 * wheelbase_ * std::sin(phi); + const double denominator_first_member = 2 * wheelbase_ * std::cos(phi); + const double denominator_second_member = wheel_track_ * std::sin(phi); - double alpha_r = std::atan2(numerator, denominator_first_member + denominator_second_member); - double alpha_l = std::atan2(numerator, denominator_first_member - denominator_second_member); + const double alpha_r = + std::atan2(numerator, denominator_first_member + denominator_second_member); + const double alpha_l = + std::atan2(numerator, denominator_first_member - denominator_second_member); steering_commands = {alpha_r, alpha_l}; } return std::make_tuple(traction_commands, steering_commands); @@ -290,35 +272,36 @@ void SteeringOdometry::reset_odometry() reset_accumulators(); } -void SteeringOdometry::integrate_runge_kutta_2(double linear, double angular) +void SteeringOdometry::integrate_runge_kutta_2( + const double v_bx, const double omega_bz, const double dt) { - const double direction = heading_ + angular * 0.5; + // Compute intermediate value of the heading + const double theta_mid = heading_ + omega_bz * 0.5 * dt; - /// Runge-Kutta 2nd order integration: - x_ += linear * cos(direction); - y_ += linear * sin(direction); - heading_ += angular; + // Use the intermediate values to update the state + x_ += v_bx * cos(theta_mid) * dt; + y_ += v_bx * sin(theta_mid) * dt; + heading_ += omega_bz * dt; } -/** - * \brief Other possible integration method provided by the class - * \param linear - * \param angular - */ -void SteeringOdometry::integrate_exact(double linear, double angular) +void SteeringOdometry::integrate_fk(const double v_bx, const double omega_bz, const double dt) { - if (fabs(angular) < 1e-6) + const double delta_x_b = v_bx * dt; + const double delta_theta = omega_bz * dt; + + if (fabs(delta_theta) < 1e-6) { - integrate_runge_kutta_2(linear, angular); + /// Runge-Kutta 2nd Order (should solve problems when omega_bz is zero): + integrate_runge_kutta_2(v_bx, omega_bz, dt); } else { - /// Exact integration (should solve problems when angular is zero): + /// Exact integration const double heading_old = heading_; - const double r = linear / angular; - heading_ += angular; - x_ += r * (sin(heading_) - sin(heading_old)); - y_ += -r * (cos(heading_) - cos(heading_old)); + const double R = delta_x_b / delta_theta; + heading_ += delta_theta; + x_ += R * (sin(heading_) - sin(heading_old)); + y_ += -R * (cos(heading_) - cos(heading_old)); } } diff --git a/steering_controllers_library/test/steering_controllers_library_params.yaml b/steering_controllers_library/test/steering_controllers_library_params.yaml index d200d34961..01bfb02302 100644 --- a/steering_controllers_library/test/steering_controllers_library_params.yaml +++ b/steering_controllers_library/test/steering_controllers_library_params.yaml @@ -6,7 +6,6 @@ test_steering_controllers_library: open_loop: false velocity_rolling_window_size: 10 position_feedback: false - use_stamped_vel: true rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint] front_wheels_names: [front_right_steering_joint, front_left_steering_joint] diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index 1284b72096..05ac17b454 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -301,7 +301,6 @@ class SteeringControllersLibraryFixture : public ::testing::Test bool open_loop_ = false; unsigned int velocity_rolling_window_size_ = 10; bool position_feedback_ = false; - bool use_stamped_vel_ = true; std::vector rear_wheels_names_ = {"rear_right_wheel_joint", "rear_left_wheel_joint"}; std::vector front_wheels_names_ = { "front_right_steering_joint", "front_left_steering_joint"}; diff --git a/steering_controllers_library/test/test_steering_odometry.cpp b/steering_controllers_library/test/test_steering_odometry.cpp index 173c76baef..3e4adc59fe 100644 --- a/steering_controllers_library/test/test_steering_odometry.cpp +++ b/steering_controllers_library/test/test_steering_odometry.cpp @@ -108,3 +108,39 @@ TEST(TestSteeringOdometry, ackermann_back_kin_right) EXPECT_GT(std::abs(cmd1[0]), std::abs(cmd1[1])); // abs right (inner) > abs left (outer) EXPECT_LT(cmd1[0], 0); } + +TEST(TestSteeringOdometry, bicycle_odometry) +{ + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 1., 1.); + odom.set_odometry_type(steering_odometry::BICYCLE_CONFIG); + ASSERT_TRUE(odom.update_from_velocity(1., .1, .1)); + EXPECT_NEAR(odom.get_linear(), 1.0, 1e-3); + EXPECT_NEAR(odom.get_angular(), .1, 1e-3); + EXPECT_NEAR(odom.get_x(), .1, 1e-3); + EXPECT_NEAR(odom.get_heading(), .01, 1e-3); +} + +TEST(TestSteeringOdometry, tricycle_odometry) +{ + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 1., 1.); + odom.set_odometry_type(steering_odometry::TRICYCLE_CONFIG); + ASSERT_TRUE(odom.update_from_velocity(1., 1., .1, .1)); + EXPECT_NEAR(odom.get_linear(), 1.0, 1e-3); + EXPECT_NEAR(odom.get_angular(), .1, 1e-3); + EXPECT_NEAR(odom.get_x(), .1, 1e-3); + EXPECT_NEAR(odom.get_heading(), .01, 1e-3); +} + +TEST(TestSteeringOdometry, ackermann_odometry) +{ + steering_odometry::SteeringOdometry odom(1); + odom.set_wheel_params(1., 1., 1.); + odom.set_odometry_type(steering_odometry::ACKERMANN_CONFIG); + ASSERT_TRUE(odom.update_from_velocity(1., 1., .1, .1, .1)); + EXPECT_NEAR(odom.get_linear(), 1.0, 1e-3); + EXPECT_NEAR(odom.get_angular(), .1, 1e-3); + EXPECT_NEAR(odom.get_x(), .1, 1e-3); + EXPECT_NEAR(odom.get_heading(), .01, 1e-3); +} diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index 150a575260..8f36bae23c 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,6 +2,19 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ +* Add mobile robot kinematics 101 and improve steering library docs (`#954 `_) +* Bump version of pre-commit hooks (`#1157 `_) +* Contributors: Christoph Fröhlich, github-actions[bot] + +4.8.0 (2024-05-14) +------------------ +* Add parameter check for geometric values (`#1120 `_) +* Deprecate non-stamped twist for tricycle_controller and steering_controllers (`#1093 `_) +* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.7.0 (2024-03-22) ------------------ * added conditioning to have rolling tags compilable in older versions (`#1071 `_) diff --git a/tricycle_controller/config/tricycle_drive_controller.yaml b/tricycle_controller/config/tricycle_drive_controller.yaml index fba6f34bb2..a7853954d7 100644 --- a/tricycle_controller/config/tricycle_drive_controller.yaml +++ b/tricycle_controller/config/tricycle_drive_controller.yaml @@ -36,7 +36,6 @@ tricycle_controller: # cmd_vel input cmd_vel_timeout: 500 # In milliseconds. Timeout to stop if no cmd_vel is received - use_stamped_vel: false # Set to True if using TwistStamped. # Debug publish_ackermann_command: true # Publishes AckermannDrive. The speed does not comply to the msg definition, it the wheel angular speed in rad/s. diff --git a/tricycle_controller/doc/userdoc.rst b/tricycle_controller/doc/userdoc.rst index 991627eca2..2ede52e1b6 100644 --- a/tricycle_controller/doc/userdoc.rst +++ b/tricycle_controller/doc/userdoc.rst @@ -10,12 +10,7 @@ Controller for mobile robots with a single double-actuated wheel, including trac Input for control are robot base_link twist commands which are translated to traction and steering commands for the tricycle drive base. Odometry is computed from hardware feedback and published. -Velocity commands ------------------ - -The controller works with a velocity twist from which it extracts -the x component of the linear velocity and the z component of the angular velocity. -Velocities on other components are ignored. +For an introduction to mobile robot kinematics and the nomenclature used here, see :ref:`mobile_robot_kinematics`. Other features @@ -26,6 +21,16 @@ Other features Velocity, acceleration and jerk limits Automatic stop after command timeout +ROS 2 Interfaces +------------------------ + +Subscribers +,,,,,,,,,,,, + +~/cmd_vel [geometry_msgs/msg/TwistStamped] + Velocity command for the controller. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored. + + Parameters -------------- diff --git a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp index 24aaf89de9..b6f9aae417 100644 --- a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp +++ b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp @@ -140,8 +140,6 @@ class TricycleController : public controller_interface::ControllerInterface bool subscriber_is_active_ = false; rclcpp::Subscription::SharedPtr velocity_command_subscriber_ = nullptr; - rclcpp::Subscription::SharedPtr - velocity_command_unstamped_subscriber_ = nullptr; realtime_tools::RealtimeBox> received_velocity_msg_ptr_{nullptr}; diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index 900f906a11..51fe867106 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 4.7.0 + 4.9.0 Controller for a tricycle drive mobile base Bence Magyar Tony Najjar diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp index 07be8c2aae..94ff63e659 100644 --- a/tricycle_controller/src/tricycle_controller.cpp +++ b/tricycle_controller/src/tricycle_controller.cpp @@ -239,7 +239,6 @@ CallbackReturn TricycleController::on_configure(const rclcpp_lifecycle::State & cmd_vel_timeout_ = std::chrono::milliseconds{params_.cmd_vel_timeout}; params_.publish_ackermann_command = get_node()->get_parameter("publish_ackermann_command").as_bool(); - params_.use_stamped_vel = get_node()->get_parameter("use_stamped_vel").as_bool(); try { @@ -291,51 +290,27 @@ CallbackReturn TricycleController::on_configure(const rclcpp_lifecycle::State & } // initialize command subscriber - if (params_.use_stamped_vel) - { - velocity_command_subscriber_ = get_node()->create_subscription( - DEFAULT_COMMAND_TOPIC, rclcpp::SystemDefaultsQoS(), - [this](const std::shared_ptr msg) -> void + velocity_command_subscriber_ = get_node()->create_subscription( + DEFAULT_COMMAND_TOPIC, rclcpp::SystemDefaultsQoS(), + [this](const std::shared_ptr msg) -> void + { + if (!subscriber_is_active_) { - if (!subscriber_is_active_) - { - RCLCPP_WARN( - get_node()->get_logger(), "Can't accept new commands. subscriber is inactive"); - return; - } - if ((msg->header.stamp.sec == 0) && (msg->header.stamp.nanosec == 0)) - { - RCLCPP_WARN_ONCE( - get_node()->get_logger(), - "Received TwistStamped with zero timestamp, setting it to current " - "time, this message will only be shown once"); - msg->header.stamp = get_node()->get_clock()->now(); - } - received_velocity_msg_ptr_.set(std::move(msg)); - }); - } - else - { - velocity_command_unstamped_subscriber_ = get_node()->create_subscription( - DEFAULT_COMMAND_TOPIC, rclcpp::SystemDefaultsQoS(), - [this](const std::shared_ptr msg) -> void + RCLCPP_WARN(get_node()->get_logger(), "Can't accept new commands. subscriber is inactive"); + return; + } + if ((msg->header.stamp.sec == 0) && (msg->header.stamp.nanosec == 0)) { - if (!subscriber_is_active_) - { - RCLCPP_WARN( - get_node()->get_logger(), "Can't accept new commands. subscriber is inactive"); - return; - } - - // Write fake header in the stored stamped command - std::shared_ptr twist_stamped; - received_velocity_msg_ptr_.get(twist_stamped); - twist_stamped->twist = *msg; - twist_stamped->header.stamp = get_node()->get_clock()->now(); - }); - } - - // initialize odometry publisher and messasge + RCLCPP_WARN_ONCE( + get_node()->get_logger(), + "Received TwistStamped with zero timestamp, setting it to current " + "time, this message will only be shown once"); + msg->header.stamp = get_node()->get_clock()->now(); + } + received_velocity_msg_ptr_.set(std::move(msg)); + }); + + // initialize odometry publisher and message odometry_publisher_ = get_node()->create_publisher( DEFAULT_ODOMETRY_TOPIC, rclcpp::SystemDefaultsQoS()); realtime_odometry_publisher_ = @@ -457,7 +432,6 @@ bool TricycleController::reset() subscriber_is_active_ = false; velocity_command_subscriber_.reset(); - velocity_command_unstamped_subscriber_.reset(); received_velocity_msg_ptr_.set(nullptr); is_halted = false; diff --git a/tricycle_controller/src/tricycle_controller_parameter.yaml b/tricycle_controller/src/tricycle_controller_parameter.yaml index 68fc2202c2..cf661eddc1 100644 --- a/tricycle_controller/src/tricycle_controller_parameter.yaml +++ b/tricycle_controller/src/tricycle_controller_parameter.yaml @@ -19,11 +19,17 @@ tricycle_controller: type: double, default_value: 0.0, description: "Shortest distance between the front wheel and the rear axle. If this parameter is wrong, the robot will not behave correctly in curves.", + validation: { + gt<>: [0.0] + } } wheel_radius: { type: double, default_value: 0.0, description: "Radius of a wheel, i.e., wheels size, used for transformation of linear velocity into wheel rotations. If this parameter is wrong the robot will move faster or slower then expected.", + validation: { + gt<>: [0.0] + } } odom_frame_id: { type: string, @@ -78,11 +84,6 @@ tricycle_controller: gt<>: [0] } } - use_stamped_vel: { - type: bool, - default_value: true, - description: "Use stamp from input velocity message to calculate how old the command actually is.", - } traction: # "The positive limit will be applied to both directions. Setting different limits for positive " # "and negative directions is not supported. Actuators are " diff --git a/tricycle_controller/test/config/test_tricycle_controller.yaml b/tricycle_controller/test/config/test_tricycle_controller.yaml index efecfe968f..4cef3ee131 100644 --- a/tricycle_controller/test/config/test_tricycle_controller.yaml +++ b/tricycle_controller/test/config/test_tricycle_controller.yaml @@ -5,7 +5,6 @@ test_tricycle_controller: steering_joint_name: steering_joint wheel_radius: 0.125 wheelbase: 1.252 - use_stamped_vel: false enable_odom_tf: false use_sim_time: false pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp index 5280aaf244..4be1680980 100644 --- a/tricycle_controller/test/test_tricycle_controller.cpp +++ b/tricycle_controller/test/test_tricycle_controller.cpp @@ -164,6 +164,9 @@ class TestTricycleController : public ::testing::Test rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name_init))); parameter_overrides.push_back( rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name_init))); + // default parameters + parameter_overrides.push_back(rclcpp::Parameter("wheelbase", rclcpp::ParameterValue(1.))); + parameter_overrides.push_back(rclcpp::Parameter("wheel_radius", rclcpp::ParameterValue(0.1))); parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end()); node_options.parameter_overrides(parameter_overrides); diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index 04e3bf43fe..f6423146a0 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ +* Add parameter check for geometric values (`#1120 `_) +* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 `_) +* Contributors: Christoph Fröhlich, Sai Kishor Kothakota + 4.7.0 (2024-03-22) ------------------ * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 `_) diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index ccb973be40..6e1ed66edd 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 4.7.0 + 4.9.0 Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering. Apache License 2.0 Bence Magyar diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.cpp b/tricycle_steering_controller/src/tricycle_steering_controller.cpp index f89d78a52c..03be6b88f0 100644 --- a/tricycle_steering_controller/src/tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/src/tricycle_steering_controller.cpp @@ -60,24 +60,28 @@ bool TricycleSteeringController::update_odometry(const rclcpp::Duration & period } else { - const double rear_right_wheel_value = state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value(); - const double rear_left_wheel_value = state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value(); - const double steer_position = state_interfaces_[STATE_STEER_AXIS].get_value(); + const double traction_right_wheel_value = + state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value(); + const double traction_left_wheel_value = + state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value(); + const double steering_position = state_interfaces_[STATE_STEER_AXIS].get_value(); if ( - !std::isnan(rear_right_wheel_value) && !std::isnan(rear_left_wheel_value) && - !std::isnan(steer_position)) + std::isfinite(traction_right_wheel_value) && std::isfinite(traction_left_wheel_value) && + std::isfinite(steering_position)) { if (params_.position_feedback) { // Estimate linear and angular velocity using joint information odometry_.update_from_position( - rear_right_wheel_value, rear_left_wheel_value, steer_position, period.seconds()); + traction_right_wheel_value, traction_left_wheel_value, steering_position, + period.seconds()); } else { // Estimate linear and angular velocity using joint information odometry_.update_from_velocity( - rear_right_wheel_value, rear_left_wheel_value, steer_position, period.seconds()); + traction_right_wheel_value, traction_left_wheel_value, steering_position, + period.seconds()); } } } diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.yaml b/tricycle_steering_controller/src/tricycle_steering_controller.yaml index 1015865fd9..6e5ae2b477 100644 --- a/tricycle_steering_controller/src/tricycle_steering_controller.yaml +++ b/tricycle_steering_controller/src/tricycle_steering_controller.yaml @@ -5,6 +5,9 @@ tricycle_steering_controller: default_value: 0.0, description: "Wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase", read_only: false, + validation: { + gt<>: [0.0] + } } wheelbase: @@ -13,6 +16,9 @@ tricycle_steering_controller: default_value: 0.0, description: "Distance between front and rear wheels. For details see: https://en.wikipedia.org/wiki/Wheelbase", read_only: false, + validation: { + gt<>: [0.0] + } } front_wheels_radius: @@ -21,6 +27,9 @@ tricycle_steering_controller: default_value: 0.0, description: "Front wheels radius.", read_only: false, + validation: { + gt<>: [0.0] + } } rear_wheels_radius: @@ -29,4 +38,7 @@ tricycle_steering_controller: default_value: 0.0, description: "Rear wheels radius.", read_only: false, + validation: { + gt<>: [0.0] + } } diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp index 6a516691b8..1807ab59a8 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp @@ -265,7 +265,6 @@ class TricycleSteeringControllerFixture : public ::testing::Test bool open_loop_ = false; unsigned int velocity_rolling_window_size_ = 10; bool position_feedback_ = false; - bool use_stamped_vel_ = true; std::vector rear_wheels_names_ = {"rear_right_wheel_joint", "rear_left_wheel_joint"}; std::vector front_wheels_names_ = {"steering_axis_joint"}; std::vector joint_names_ = { diff --git a/tricycle_steering_controller/test/tricycle_steering_controller_params.yaml b/tricycle_steering_controller/test/tricycle_steering_controller_params.yaml index 6bfb87a892..cc640e1503 100644 --- a/tricycle_steering_controller/test/tricycle_steering_controller_params.yaml +++ b/tricycle_steering_controller/test/tricycle_steering_controller_params.yaml @@ -6,7 +6,6 @@ test_tricycle_steering_controller: open_loop: false velocity_rolling_window_size: 10 position_feedback: false - use_stamped_vel: true rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint] front_wheels_names: [steering_axis_joint] diff --git a/tricycle_steering_controller/test/tricycle_steering_controller_preceeding_params.yaml b/tricycle_steering_controller/test/tricycle_steering_controller_preceeding_params.yaml index ea8b88002e..7cb2e4906f 100644 --- a/tricycle_steering_controller/test/tricycle_steering_controller_preceeding_params.yaml +++ b/tricycle_steering_controller/test/tricycle_steering_controller_preceeding_params.yaml @@ -5,7 +5,6 @@ test_tricycle_steering_controller: open_loop: false velocity_rolling_window_size: 10 position_feedback: false - use_stamped_vel: true rear_wheels_names: [pid_controller/rear_right_wheel_joint, pid_controller/rear_left_wheel_joint] front_wheels_names: [pid_controller/steering_axis_joint] rear_wheels_state_names: [rear_right_wheel_joint, rear_left_wheel_joint] diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index e15ecc94e7..64a09e4309 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +4.9.0 (2024-06-05) +------------------ + +4.8.0 (2024-05-14) +------------------ + 4.7.0 (2024-03-22) ------------------ diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index a6c28a3cd1..05f6245686 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 4.7.0 + 4.9.0 Generic controller for forwarding commands. Bence Magyar Jordan Palacios