Fix the spawner to support full wildcard parameter entries (#1933)

(cherry picked from commit bb087e2) # Conflicts: # .clang-format # .github/ISSUE_TEMPLATE/good-first-issue.md # .github/mergify.yml # .github/workflows/humble-abi-compatibility.yml # .github/workflows/humble-debian-build.yml # .github/workflows/prerelease-check.yml # .github/workflows/rolling-abi-compatibility.yml # .github/workflows/rolling-check-docs.yml # README.md # controller_interface/CHANGELOG.rst # controller_interface/CMakeLists.txt # controller_interface/include/controller_interface/chainable_controller_interface.hpp # controller_interface/include/controller_interface/controller_interface.hpp # controller_interface/include/controller_interface/controller_interface_base.hpp # controller_interface/include/controller_interface/helpers.hpp # controller_interface/include/semantic_components/range_sensor.hpp # controller_interface/package.xml # controller_interface/src/chainable_controller_interface.cpp # controller_interface/src/controller_interface.cpp # controller_interface/src/controller_interface_base.cpp # controller_interface/test/test_chainable_controller_interface.cpp # controller_interface/test/test_chainable_controller_interface.hpp # controller_interface/test/test_controller_interface.cpp # controller_interface/test/test_controller_interface.hpp # controller_interface/test/test_controller_with_options.cpp # controller_interface/test/test_controller_with_options.hpp # controller_interface/test/test_force_torque_sensor.hpp # controller_interface/test/test_imu_sensor.hpp # controller_interface/test/test_semantic_component_interface.hpp # controller_manager/CHANGELOG.rst # controller_manager/CMakeLists.txt # controller_manager/controller_manager/controller_manager_services.py # controller_manager/controller_manager/launch_utils.py # controller_manager/controller_manager/spawner.py # controller_manager/controller_manager/unspawner.py # controller_manager/doc/controller_chaining.rst # controller_manager/doc/images/chaining_example2.png # controller_manager/doc/userdoc.rst # controller_manager/include/controller_manager/controller_manager.hpp # controller_manager/include/controller_manager/controller_spec.hpp # controller_manager/package.xml # controller_manager/src/controller_manager.cpp # controller_manager/src/ros2_control_node.cpp # controller_manager/test/controller_manager_test_common.hpp # controller_manager/test/test_chainable_controller/test_chainable_controller.cpp # controller_manager/test/test_chainable_controller/test_chainable_controller.hpp # controller_manager/test/test_controller/test_controller.cpp # controller_manager/test/test_controller/test_controller.hpp # controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp # controller_manager/test/test_controller_failed_init/test_controller_failed_init.hpp # controller_manager/test/test_controller_manager.cpp # controller_manager/test/test_controller_manager_srvs.cpp # controller_manager/test/test_controller_manager_urdf_passing.cpp # controller_manager/test/test_controller_manager_with_namespace.cpp # controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.cpp # controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.hpp # controller_manager/test/test_controllers_chaining_with_controller_manager.cpp # controller_manager/test/test_hardware_management_srvs.cpp # controller_manager/test/test_hardware_spawner.cpp # controller_manager/test/test_load_controller.cpp # controller_manager/test/test_release_interfaces.cpp # controller_manager/test/test_spawner_unspawner.cpp # controller_manager_msgs/CHANGELOG.rst # controller_manager_msgs/CMakeLists.txt # controller_manager_msgs/msg/ControllerState.msg # controller_manager_msgs/msg/HardwareComponentState.msg # controller_manager_msgs/package.xml # controller_manager_msgs/srv/SwitchController.srv # doc/debugging.rst # doc/migration.rst # doc/release_notes.rst # hardware_interface/CHANGELOG.rst # hardware_interface/CMakeLists.txt # hardware_interface/doc/different_update_rates_userdoc.rst # hardware_interface/doc/hardware_interface_types_userdoc.rst # hardware_interface/doc/joints_userdoc.rst # hardware_interface/doc/mock_components_userdoc.rst # hardware_interface/doc/writing_new_hardware_component.rst # hardware_interface/include/hardware_interface/actuator.hpp # hardware_interface/include/hardware_interface/actuator_interface.hpp # hardware_interface/include/hardware_interface/component_parser.hpp # hardware_interface/include/hardware_interface/controller_info.hpp # hardware_interface/include/hardware_interface/handle.hpp # hardware_interface/include/hardware_interface/hardware_component_info.hpp # hardware_interface/include/hardware_interface/hardware_info.hpp # hardware_interface/include/hardware_interface/lexical_casts.hpp # hardware_interface/include/hardware_interface/loaned_command_interface.hpp # hardware_interface/include/hardware_interface/loaned_state_interface.hpp # hardware_interface/include/hardware_interface/resource_manager.hpp # hardware_interface/include/hardware_interface/sensor.hpp # hardware_interface/include/hardware_interface/sensor_interface.hpp # hardware_interface/include/hardware_interface/system.hpp # hardware_interface/include/hardware_interface/system_interface.hpp # hardware_interface/include/hardware_interface/types/hardware_interface_return_values.hpp # hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp # hardware_interface/include/hardware_interface/types/lifecycle_state_names.hpp # hardware_interface/include/mock_components/generic_system.hpp # hardware_interface/package.xml # hardware_interface/src/actuator.cpp # hardware_interface/src/component_parser.cpp # hardware_interface/src/lexical_casts.cpp # hardware_interface/src/mock_components/generic_system.cpp # hardware_interface/src/resource_manager.cpp # hardware_interface/src/sensor.cpp # hardware_interface/src/system.cpp # hardware_interface/test/mock_components/test_generic_system.cpp # hardware_interface/test/test_component_interfaces.cpp # hardware_interface/test/test_component_parser.cpp # hardware_interface/test/test_handle.cpp # hardware_interface/test/test_hardware_components/test_force_torque_sensor.cpp # hardware_interface/test/test_hardware_components/test_hardware_components.xml # hardware_interface/test/test_hardware_components/test_single_joint_actuator.cpp # hardware_interface/test/test_hardware_components/test_system_with_command_modes.cpp # hardware_interface/test/test_hardware_components/test_two_joint_system.cpp # hardware_interface/test/test_inst_hardwares.cpp # hardware_interface/test/test_macros.cpp # hardware_interface_testing/CHANGELOG.rst # hardware_interface_testing/CMakeLists.txt # hardware_interface_testing/package.xml # hardware_interface_testing/test/test_components/test_actuator.cpp # hardware_interface_testing/test/test_components/test_components.xml # hardware_interface_testing/test/test_components/test_sensor.cpp # hardware_interface_testing/test/test_components/test_system.cpp # hardware_interface_testing/test/test_resource_manager.cpp # hardware_interface_testing/test/test_resource_manager.hpp # hardware_interface_testing/test/test_resource_manager_prepare_perform_switch.cpp # joint_limits/CHANGELOG.rst # joint_limits/CMakeLists.txt # joint_limits/include/joint_limits/joint_limits.hpp # joint_limits/include/joint_limits/joint_limits_rosparam.hpp # joint_limits/package.xml # joint_limits/test/joint_limits_rosparam.yaml # joint_limits/test/joint_limits_rosparam_test.cpp # ros2_control/CHANGELOG.rst # ros2_control/CMakeLists.txt # ros2_control/package.xml # ros2_control_test_assets/CHANGELOG.rst # ros2_control_test_assets/CMakeLists.txt # ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp # ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp # ros2_control_test_assets/package.xml # ros2controlcli/CHANGELOG.rst # ros2controlcli/doc/userdoc.rst # ros2controlcli/package.xml # ros2controlcli/ros2controlcli/api/__init__.py # ros2controlcli/ros2controlcli/verb/list_controller_types.py # ros2controlcli/ros2controlcli/verb/list_controllers.py # ros2controlcli/ros2controlcli/verb/list_hardware_components.py # ros2controlcli/ros2controlcli/verb/list_hardware_interfaces.py # ros2controlcli/ros2controlcli/verb/load_controller.py # ros2controlcli/ros2controlcli/verb/reload_controller_libraries.py # ros2controlcli/ros2controlcli/verb/set_controller_state.py # ros2controlcli/ros2controlcli/verb/set_hardware_component_state.py # ros2controlcli/ros2controlcli/verb/switch_controllers.py # ros2controlcli/ros2controlcli/verb/unload_controller.py # ros2controlcli/ros2controlcli/verb/view_controller_chains.py # ros2controlcli/setup.py # ros2controlcli/test/test_view_controller_chains.py # rqt_controller_manager/CHANGELOG.rst # rqt_controller_manager/package.xml # rqt_controller_manager/rqt_controller_manager/controller_manager.py # rqt_controller_manager/setup.py # transmission_interface/CHANGELOG.rst # transmission_interface/CMakeLists.txt # transmission_interface/include/transmission_interface/accessor.hpp # transmission_interface/include/transmission_interface/differential_transmission.hpp # transmission_interface/include/transmission_interface/four_bar_linkage_transmission.hpp # transmission_interface/include/transmission_interface/handle.hpp # transmission_interface/include/transmission_interface/transmission.hpp # transmission_interface/package.xml # transmission_interface/src/differential_transmission_loader.cpp # transmission_interface/src/four_bar_linkage_transmission_loader.cpp # transmission_interface/src/simple_transmission_loader.cpp # transmission_interface/test/differential_transmission_loader_test.cpp # transmission_interface/test/four_bar_linkage_transmission_loader_test.cpp # transmission_interface/test/four_bar_linkage_transmission_test.cpp # transmission_interface/test/simple_transmission_loader_test.cpp # transmission_interface/test/simple_transmission_test.cpp
ros-controls · Dec 13, 2024 · 1a2b768 · 1a2b768
1 parent 5bce7bf
commit 1a2b768
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diff --git a/.clang-format b/.clang-format
@@ -12,4 +12,8 @@ DerivePointerAlignment: false
 PointerAlignment: Middle
 ReflowComments: true
 IncludeBlocks: Preserve
+<<<<<<< HEAD
+=======
+InsertBraces: true
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
 ...
diff --git a/.github/ISSUE_TEMPLATE/good-first-issue.md b/.github/ISSUE_TEMPLATE/good-first-issue.md
@@ -28,7 +28,11 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 - [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
 
+<<<<<<< HEAD
 - [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html), for Step 3 use "Download Source Code" section with [these instructions](https://control.ros.org/humble/doc/getting_started/getting_started.html#building-from-source).
+=======
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/rolling/Tutorials/Workspace/Creating-A-Workspace.html), for Step 3 use "Download Source Code" section with [these instructions](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source).
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
 
 - [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ws_ros2_control/src/ros-controls/ros2_control`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `ros2_control` folder before cloning your own fork)
 
@@ -53,8 +57,14 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below!
 Furthermore, you find helpful resources here:
+<<<<<<< HEAD
 * [ros2_control Contribution Guide](https://control.ros.org/humble/doc/contributing/contributing.html)
 * [ROS2 Tutorials](https://docs.ros.org/en/humble/Tutorials.html)
 * [ROS Answers](https://answers.ros.org/questions/)
+=======
+* [ROS2 Control Contribution Guide](https://control.ros.org/master/doc/contributing/contributing.html)
+* [ROS2 Tutorials](https://docs.ros.org/en/rolling/Tutorials.html)
+* [Robotics Stack Exchange](https://robotics.stackexchange.com)
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
 
 **Good luck with your first issue!**
diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -1,4 +1,5 @@
 pull_request_rules:
+<<<<<<< HEAD
   - name: Backport to galactic at reviewers discretion
     conditions:
       - base=master
@@ -16,11 +17,62 @@ pull_request_rules:
       backport:
         branches:
           - foxy
+=======
+  - name: Backport to humble at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-humble"
+    actions:
+      backport:
+        branches:
+          - humble
+
+  - name: Backport to iron at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-iron"
+    actions:
+      backport:
+        branches:
+          - iron
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
 
   - name: Ask to resolve conflict
     conditions:
       - conflict
+<<<<<<< HEAD
       - author!=mergify
     actions:
         comment:
           message: This pull request is in conflict. Could you fix it @{{author}}?
+=======
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @{{author}}?
+
+  - name: Ask to resolve conflict for backports
+    conditions:
+      - conflict
+      - author=mergify[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?
+
+  - name: development targets master branch
+    conditions:
+      - base!=master
+      - author!=bmagyar
+      - author!=destogl
+      - author!=christophfroehlich
+      - author!=saikishor
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: |
+            @{{author}}, all pull requests must be targeted towards the `master` development branch.
+            Once merged into `master`, it is possible to backport to `{{base}}`, but it must be in `master`
+            to have these changes reflected into new distributions.
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -0,0 +1,16 @@
+Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
+
+1. Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
+2. Give your PR a descriptive title. Add a short summary, if required.
+3. Make sure the pipeline is green.
+4. Don’t be afraid to request reviews from maintainers.
+5. New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.
+
+To send us a pull request, please:
+
+- [ ] Fork the repository.
+- [ ] Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
+- [ ] Ensure local tests pass. (`colcon test` and `pre-commit run` (requires you to install pre-commit by `pip3 install pre-commit`)
+- [ ] Commit to your fork using clear commit messages.
+- [ ] Send a pull request, answering any default questions in the pull request interface.
+- [ ] Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -27,6 +27,10 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble
+<<<<<<< HEAD
           ROS_REPO: main
+=======
+          ROS_REPO: testing
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -34,4 +34,8 @@ jobs:
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
       skip_packages: rqt_controller_manager
+<<<<<<< HEAD
       skip_packages_test: controller_manager_msgs control_msgs
+=======
+      skip_packages_test: controller_manager_msgs
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
@@ -9,19 +9,29 @@ on:
         default: 'rolling'
         type: choice
         options:
+<<<<<<< HEAD
         - foxy
         - galactic
         - humble
+=======
+        - humble
+        - iron
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
         - rolling
       branch:
         description: 'Chose branch for distro'
         required: true
         default: 'master'
         type: choice
         options:
+<<<<<<< HEAD
         - foxy
         - galactic
         - humble
+=======
+        - humble
+        - iron
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
         - master
 
 jobs:

diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -27,6 +27,10 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: rolling
+<<<<<<< HEAD
           ROS_REPO: main
+=======
+          ROS_REPO: testing
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
@@ -9,6 +9,10 @@ on:
       - '**.rst'
       - '**.md'
       - '**.yaml'
+<<<<<<< HEAD
+=======
+      - '.github/workflows/rolling-check-docs.yml'
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
@@ -17,6 +21,10 @@ concurrency:
 jobs:
   check-docs:
     name: Check Docs
+<<<<<<< HEAD
     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@rolling
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
     with:
       ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/MIGRATION.md b/MIGRATION.md
@@ -0,0 +1,12 @@
+# Migration Notes
+
+API changes in ros2_control releases
+
+## ROS Rolling
+
+#### Controller Interface
+
+`update_reference_from_subscribers()` method got parameters and now has the following signature:
+```
+update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
+```
diff --git a/README.md b/README.md
@@ -1,7 +1,11 @@
 # ros2_control
 
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+<<<<<<< HEAD
 [![codecov](https://codecov.io/gh/ros-controls/ros2_control/branch/humble/graph/badge.svg?token=idvm1zJXOf)](https://codecov.io/gh/ros-controls/ros2_control/tree/humble)
+=======
+[![codecov](https://codecov.io/gh/ros-controls/ros2_control/graph/badge.svg?token=idvm1zJXOf)](https://codecov.io/gh/ros-controls/ros2_control)
+>>>>>>> bb087e2 (Fix the spawner to support full wildcard parameter entries (#1933))
 
 This package is a part of the ros2_control framework.
 For more, please check the [documentation](https://control.ros.org/).