Fix/spawner interrupt (#1666)

* [ResourceManager] Make destructor virtual for use in derived classes (#1607)

* Fix typos in test_resource_manager.cpp (#1609)

* [CM] Remove support for the description parameter and use only `robot_description` topic (#1358)

---------

Co-authored-by: Felix Exner <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>

* move critical variables to the private context (#1623)

* Fix controller starting with later load of robot description test (#1624)

* Fix the duplicated restart of the controller_manager services initialization

* Scope the ControllerManagerRunner to avoid malloc and other test issues

* reorder the tests for consistent log at the end

* Remove noqa (#1626)

* Unused header cleanup (#1627)

* Create debugging.rst (#1625)


---------

Co-authored-by: Sai Kishor Kothakota <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>

* Update changelogs

* 4.14.0

* add missing rclcpp logging include for Humble compatibility build (#1635)

* [CM] Remove deprecated spawner args (#1639)

* Add a pytest launch file to test ros2_control_node (#1636)

* Fix rst markup (#1642)

* Fix rqt_cm paragraph

* Fix indent

* CM: Add missing includes (#1641)

* [RM] Add `get_hardware_info` method to the Hardware Components (#1643)

* Fix the namespaced controller_manager spawner + added tests (#1640)

* Bump version of pre-commit hooks (#1649)

Co-authored-by: christophfroehlich <[email protected]>

* Add missing include for executors (#1653)

* Update changelogs

* 4.15.0

* refactor SwitchParams to fix the incosistencies in the spawner tests (#1638)

* Modify test with missing CM to have a timeout

* Catch exception when CM services are not found

And print the error and exit in the application

* Exit with code 1 on unreached CM

---------

Co-authored-by: Sai Kishor Kothakota <[email protected]>
Co-authored-by: Parker Drouillard <[email protected]>
Co-authored-by: Dr. Denis <[email protected]>
Co-authored-by: Christoph Froehlich <[email protected]>
Co-authored-by: Christoph Fröhlich <[email protected]>
Co-authored-by: Henry Moore <[email protected]>
Co-authored-by: Lennart Nachtigall <[email protected]>
Co-authored-by: Sai Kishor Kothakota <[email protected]>
Co-authored-by: Bence Magyar <[email protected]>
Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: christophfroehlich <[email protected]>

Author: 9 people

.pre-commit-config.yaml

@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

controller_interface/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.15.0 (2024-08-05)
+-------------------
+
+4.14.0 (2024-07-23)
+-------------------
+* Unused header cleanup (`#1627 <https://github.com/ros-controls/ros2_control/issues/1627>`_)
+* move critical variables to the private context (`#1623 <https://github.com/ros-controls/ros2_control/issues/1623>`_)
+* Contributors: Henry Moore, Sai Kishor Kothakota
+
 4.13.0 (2024-07-08)
 -------------------
 * [ControllerChaining] Export state interfaces from chainable controllers (`#1021 <https://github.com/ros-controls/ros2_control/issues/1021>`_)

controller_interface/include/controller_interface/controller_interface.hpp

@@ -16,7 +16,6 @@
 #define CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_
 
 #include <memory>
-#include <string>
 #include <vector>
 
 #include "controller_interface/controller_interface_base.hpp"

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -25,7 +25,6 @@
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/version.h"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
@@ -258,12 +257,12 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
 protected:
   std::vector<hardware_interface::LoanedCommandInterface> command_interfaces_;
   std::vector<hardware_interface::LoanedStateInterface> state_interfaces_;
-  unsigned int update_rate_ = 0;
-  bool is_async_ = false;
-  std::string urdf_ = "";
 
 private:
   std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_;
+  unsigned int update_rate_ = 0;
+  bool is_async_ = false;
+  std::string urdf_ = "";
 };
 
 using ControllerInterfaceBaseSharedPtr = std::shared_ptr<ControllerInterfaceBase>;

controller_interface/include/semantic_components/range_sensor.hpp

@@ -15,7 +15,6 @@
 #ifndef SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
 #define SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
 
-#include <limits>
 #include <string>
 #include <vector>
 

controller_interface/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>4.13.0</version>
+  <version>4.15.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

controller_interface/src/controller_interface.cpp

@@ -14,14 +14,8 @@
 
 #include "controller_interface/controller_interface.hpp"
 
-#include <memory>
-#include <string>
-#include <utility>
 #include <vector>
 
-#include "hardware_interface/types/lifecycle_state_names.hpp"
-#include "lifecycle_msgs/msg/state.hpp"
-
 namespace controller_interface
 {
 ControllerInterface::ControllerInterface() : ControllerInterfaceBase() {}

controller_interface/src/controller_interface_base.cpp

@@ -19,7 +19,6 @@
 #include <utility>
 #include <vector>
 
-#include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 
 namespace controller_interface

controller_interface/test/test_chainable_controller_interface.hpp

@@ -15,14 +15,13 @@
 #ifndef TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 #define TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 
+#include <gmock/gmock.h>
+
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "controller_interface/chainable_controller_interface.hpp"
 #include "hardware_interface/handle.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 constexpr char TEST_CONTROLLER_NAME[] = "testable_chainable_controller";
 constexpr double INTERFACE_VALUE = 1989.0;

controller_interface/test/test_controller_interface.hpp

@@ -16,7 +16,6 @@
 #define TEST_CONTROLLER_INTERFACE_HPP_
 
 #include "controller_interface/controller_interface.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 constexpr char TEST_CONTROLLER_NAME[] = "testable_controller_interface";