Merge branch 'master' into renovate-load-controller-tests

.github/PULL_REQUEST_TEMPLATE/pull_request_template.md → .github/pull_request_template.md

@@ -1,13 +1,3 @@
-
----
-name: Pull request
-about: Create a pull request
-title: ''
-labels: ''
-assignees: ''
-
----
-
 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.

.github/reviewer-lottery.yml

@@ -16,13 +16,16 @@ groups:
       - rosterloh
       - progtologist
       - arne48
+      - christophfroehlich
       - DasRoteSkelett
-      - Serafadam
+      - sgmurray
       - harderthan
       - jaron-l
       - malapatiravi
-      - homalozoa
       - erickisos
+      - sachinkum0009
+      - qiayuanliao
+      - homalozoa
       - anfemosa
       - jackcenter
       - VX792
@@ -31,6 +34,7 @@ groups:
       - aprotyas
       - peterdavidfagan
       - duringhof
+      - VanshGehlot
       - bijoua29
-      - lm2292
+      - LukasMacha97
       - mcbed

.github/workflows/ci-coverage-build.yml

@@ -37,7 +37,7 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/[email protected].2
+      - uses: codecov/[email protected].3
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests

.github/workflows/ci-format.yml

@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4.5.0
+    - uses: actions/setup-python@v4.6.0
       with:
         python-version: '3.10'
     - name: Install system hooks

.github/workflows/ci-ros-lint.yml

@@ -41,8 +41,8 @@ jobs:
           linter: [cpplint]
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@0.6.1
-    - uses: ros-tooling/action-ros-lint@v0.1
+    - uses: ros-tooling/setup-ros@master
+    - uses: ros-tooling/action-ros-lint@master
       with:
         distribution: rolling
         linter: cpplint

admittance_controller/doc/userdoc.rst

@@ -1,4 +1,4 @@
-.. _joint_trajectory_controller_userdoc:
+.. _addmittance_controller_userdoc:
 
 Admittance Controller
 ======================
@@ -8,9 +8,6 @@ The controller implements ``ChainedControllerInterface``, so it is possible to a
 
 The controller requires an external kinematics plugin to function. The `kinematics_interface <https://github.com/ros-controls/kinematics_interface>`_ repository provides an interface and an implementation that the admittance controller can use.
 
-Parameters:
-
-
 
 ROS2 interface of the controller
 ---------------------------------

doc/controllers_index.rst

@@ -41,13 +41,13 @@ Available Controllers
    :titlesonly:
 
    Admittance Controller <../admittance_controller/doc/userdoc.rst>
-   Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
    Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst>
+   Effort Controllers <../effort_controllers/doc/userdoc.rst>
    Forward Command Controller <../forward_command_controller/doc/userdoc.rst>
    Joint Trajectory Controller <../joint_trajectory_controller/doc/userdoc.rst>
    Position Controllers <../position_controllers/doc/userdoc.rst>
+   Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
    Velocity Controllers <../velocity_controllers/doc/userdoc.rst>
-   Effort Controllers <../effort_controllers/doc/userdoc.rst>
 
 
 Available Broadcasters

forward_command_controller/doc/userdoc.rst

@@ -5,9 +5,9 @@ forward_command_controller
 
 This is a base class implementing a feedforward controller. Specific implementations can be found in:
 
-- :ref:`position_controllers_userdoc`
-- :ref:`velocity_controllers_userdoc`
-- :ref:`effort_controllers_userdoc`
+* :ref:`position_controllers_userdoc`
+* :ref:`velocity_controllers_userdoc`
+* :ref:`effort_controllers_userdoc`
 
 Hardware interface type
 -----------------------

joint_state_broadcaster/doc/userdoc.rst

@@ -21,26 +21,26 @@ If none of the requested interface are not defined, the controller returns error
 Parameters
 ----------
 
-``use_local_topics``
+use_local_topics
   Optional parameter (boolean; default: ``False``) defining if ``joint_states`` and ``dynamic_joint_states`` messages should be published into local namespace, e.g., ``/my_state_broadcaster/joint_states``.
 
 
-``joints``
+joints
   Optional parameter (string array) to support broadcasting of only specific joints and interfaces.
   It has to be used in combination with the ``interfaces`` parameter.
   Joint state broadcaster asks for access to all defined interfaces on all defined joints.
 
 
-``interfaces``
+interfaces
   Optional parameter (string array) to support broadcasting of only specific joints and interfaces.
   It has to be used in combination with the ``joints`` parameter.
 
 
-``extra_joints``
+extra_joints
   Optional parameter (string array) with names of extra joints to be added to ``joint_states`` and ``dynamic_joint_states`` with state set to 0.
 
 
-``map_interface_to_joint_state``
+map_interface_to_joint_state
   Optional parameter (map) providing mapping between custom interface names to standard fields in ``joint_states`` message.
   Usecases:
 

joint_trajectory_controller/doc/userdoc.rst

@@ -10,11 +10,11 @@ Trajectory representation
 
 The controller is templated to work with multiple trajectory representations. By default, a spline interpolator is provided, but it's possible to support other representations. The spline interpolator uses the following interpolation strategies depending on the waypoint specification:
 
-    Linear: Only position is specified. Guarantees continuity at the position level. Discouraged because it yields trajectories with discontinuous velocities at the waypoints.
+* Linear: Only position is specified. Guarantees continuity at the position level. Discouraged because it yields trajectories with discontinuous velocities at the waypoints.
 
-    Cubic: Position and velocity are specified. Guarantees continuity at the velocity level.
+* Cubic: Position and velocity are specified. Guarantees continuity at the velocity level.
 
-    Quintic: Position, velocity and acceleration are specified: Guarantees continuity at the acceleration level.
+* Quintic: Position, velocity and acceleration are specified: Guarantees continuity at the acceleration level.
 
 Hardware interface type
 -----------------------
@@ -26,11 +26,11 @@ Similarly to the trajectory representation case above, it's possible to support
 Other features
 --------------
 
-    Realtime-safe implementation.
+* Realtime-safe implementation.
 
-    Proper handling of wrapping (continuous) joints.
+* Proper handling of wrapping (continuous) joints.
 
-    Robust to system clock changes: Discontinuous system clock changes do not cause discontinuities in the execution of already queued trajectory segments.
+* Robust to system clock changes: Discontinuous system clock changes do not cause discontinuities in the execution of already queued trajectory segments.
 
 ros2_control interfaces
 ------------------------
@@ -45,10 +45,10 @@ The state interfaces are defined with ``joints`` and ``state_interfaces`` parame
 Supported state interfaces are ``position``, ``velocity``, ``acceleration`` and ``effort`` as defined in the `hardware_interface/hardware_interface_type_values.hpp <https://github.com/ros-controls/ros2_control/blob/master/hardware_interface/include/hardware_interface/types/hardware_interface_type_values.hpp>`_.
 Legal combinations of state interfaces are:
 
-- ``position``
-- ``position`` and ``velocity``
-- ``position``, ``velocity`` and ``acceleration``
-- ``effort``
+* ``position``
+* ``position`` and ``velocity``
+* ``position``, ``velocity`` and ``acceleration``
+* ``effort``
 
 Commands
 ^^^^^^^^^
@@ -230,7 +230,7 @@ ROS2 interface of the controller
 ~/joint_trajectory (input topic) [trajectory_msgs::msg::JointTrajectory]
   Topic for commanding the controller.
 
-~/state (output topic) [control_msgs::msg::JointTrajectoryControllerState]
+~/controller_state (output topic) [control_msgs::msg::JointTrajectoryControllerState]
   Topic publishing internal states with the update-rate of the controller manager.
 
 ~/follow_joint_trajectory (action server) [control_msgs::action::FollowJointTrajectory]
@@ -244,23 +244,28 @@ The controller types are placed into namespaces according to their command types
 
 The following version of the Joint Trajectory Controller are available mapping the following interfaces:
 
-  - position_controllers::JointTrajectoryController
-    - Input: position, [velocity, [acceleration]]
-    - Output: position
-  - position_velocity_controllers::JointTrajectoryController
-    - Input: position, [velocity, [acceleration]]
-    - Output: position and velocity
-  - position_velocity_acceleration_controllers::JointTrajectoryController
-    - Input: position, [velocity, [acceleration]]
-    - Output: position, velocity and acceleration
-
-..   - velocity_controllers::JointTrajectoryController
-..     - Input: position, [velocity, [acceleration]]
-..     - Output: velocity
+* position_controllers::JointTrajectoryController
+
+  * Input: position, [velocity, [acceleration]]
+  * Output: position
+
+* position_velocity_controllers::JointTrajectoryController
+
+  * Input: position, [velocity, [acceleration]]
+  * Output: position and velocity
+
+* position_velocity_acceleration_controllers::JointTrajectoryController
+
+  * Input: position, [velocity, [acceleration]]
+  * Output: position, velocity and acceleration
+
+..   * velocity_controllers::JointTrajectoryController
+..     * Input: position, [velocity, [acceleration]]
+..     * Output: velocity
 .. TODO(anyone): would it be possible to output velocty and acceleration?
 ..               (to have an vel_acc_controllers)
-..   - effort_controllers::JointTrajectoryController
-..     - Input: position, [velocity, [acceleration]]
-..     - Output: effort
+..   * effort_controllers::JointTrajectoryController
+..     * Input: position, [velocity, [acceleration]]
+..     * Output: effort
 
 (*Not implemented yet*) When using pure ``velocity`` or ``effort`` controllers a command is generated using the desired state and state error using a velocity feedforward term plus a corrective PID term. (#171)

joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp

@@ -127,6 +127,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
 
   // Preallocate variables used in the realtime update() function
   trajectory_msgs::msg::JointTrajectoryPoint state_current_;
+  trajectory_msgs::msg::JointTrajectoryPoint command_current_;
   trajectory_msgs::msg::JointTrajectoryPoint state_desired_;
   trajectory_msgs::msg::JointTrajectoryPoint state_error_;
 
@@ -256,6 +257,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   void read_state_from_hardware(JointTrajectoryPoint & state);
 
   bool read_state_from_command_interfaces(JointTrajectoryPoint & state);
+  bool read_commands_from_command_interfaces(JointTrajectoryPoint & commands);
 
   void query_state_service(
     const std::shared_ptr<control_msgs::srv::QueryTrajectoryState::Request> request,
@@ -267,6 +269,8 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
 
   void resize_joint_trajectory_point(
     trajectory_msgs::msg::JointTrajectoryPoint & point, size_t size);
+  void resize_joint_trajectory_point_command(
+    trajectory_msgs::msg::JointTrajectoryPoint & point, size_t size);
 };
 
 }  // namespace joint_trajectory_controller