Merge branch 'master' into isolate/start_stop_interfaces

Author: saikishor

controller_interface/CHANGELOG.rst

@@ -2,6 +2,16 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.28.0 (2025-04-10)
+-------------------
+* Make all packages use gmock, not gtest (`#2162 <https://github.com/ros-controls/ros2_control/issues/2162>`_)
+* Fix async controllers deactivation regime (`#2017 <https://github.com/ros-controls/ros2_control/issues/2017>`_)
+* Bump version of pre-commit hooks (`#2156 <https://github.com/ros-controls/ros2_control/issues/2156>`_)
+* Use ros2_control_cmake (`#2134 <https://github.com/ros-controls/ros2_control/issues/2134>`_)
+* [Handle] Add support for booleans in the handles (`#2065 <https://github.com/ros-controls/ros2_control/issues/2065>`_)
+* Improve package descriptions & update maintainers (`#2103 <https://github.com/ros-controls/ros2_control/issues/2103>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich, Sai Kishor Kothakota, Soham Patil, github-actions[bot]
+
 4.27.0 (2025-03-01)
 -------------------
 * [Handle] Use `get_optional` instead of `get_value<double>` (`#2061 <https://github.com/ros-controls/ros2_control/issues/2061>`_)

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>4.27.0</version>
+  <version>4.28.0</version>
   <description>Base classes for controllers and syntax cookies for supporting common sensor types in controllers and broadcasters</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

controller_manager/CHANGELOG.rst

@@ -2,6 +2,32 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.28.0 (2025-04-10)
+-------------------
+* Integrate joint limit enforcement into `ros2_control` framework functional with Async controllers and components  (`#2047 <https://github.com/ros-controls/ros2_control/issues/2047>`_)
+* Make all packages use gmock, not gtest (`#2162 <https://github.com/ros-controls/ros2_control/issues/2162>`_)
+* Fix async controllers deactivation regime (`#2017 <https://github.com/ros-controls/ros2_control/issues/2017>`_)
+* apply pre-commit changes (`#2160 <https://github.com/ros-controls/ros2_control/issues/2160>`_)
+* Add tests for multiple controller ros args (`#2155 <https://github.com/ros-controls/ros2_control/issues/2155>`_)
+* Bump version of pre-commit hooks (`#2156 <https://github.com/ros-controls/ros2_control/issues/2156>`_)
+* Allow for multiple controller-ros-args arguments in spawner.py (`#2150 <https://github.com/ros-controls/ros2_control/issues/2150>`_)
+* Update `rqt_controller_manager` controller state color scheme to match list_controllers color scheme (`#2143 <https://github.com/ros-controls/ros2_control/issues/2143>`_)
+* Fix generate_controllers_spawner_launch_description_from_dict (`#2146 <https://github.com/ros-controls/ros2_control/issues/2146>`_)
+* Use ros2_control_cmake (`#2134 <https://github.com/ros-controls/ros2_control/issues/2134>`_)
+* [Docs] Update determinism section (`#2131 <https://github.com/ros-controls/ros2_control/issues/2131>`_)
+* Remove the dangling param flag for robot_description fom ROS parameters (`#2115 <https://github.com/ros-controls/ros2_control/issues/2115>`_)
+* [Doc] Add documentation of different controller manager clocks (`#2109 <https://github.com/ros-controls/ros2_control/issues/2109>`_)
+* [CM] Extend the list controller and hardware components messages (`#2102 <https://github.com/ros-controls/ros2_control/issues/2102>`_)
+* Improve package descriptions & update maintainers (`#2103 <https://github.com/ros-controls/ros2_control/issues/2103>`_)
+* Reject duplicate state/command interfaces after configuring the controller  (`#2090 <https://github.com/ros-controls/ros2_control/issues/2090>`_)
+* [CM] Add message field to the `switch_controller` service (`#2088 <https://github.com/ros-controls/ros2_control/issues/2088>`_)
+* Update doc: async update support for controller (`#2096 <https://github.com/ros-controls/ros2_control/issues/2096>`_)
+* Use monotonic clock for triggering read-update-write cycles + fix for overruns (`#2046 <https://github.com/ros-controls/ros2_control/issues/2046>`_)
+* Add some logging for `unload_on_kill` keyboard interrupt (`#2097 <https://github.com/ros-controls/ros2_control/issues/2097>`_)
+* [CM] Add controller_manager activity topic (`#2006 <https://github.com/ros-controls/ros2_control/issues/2006>`_)
+* Improve diagnostics strings (`#2078 <https://github.com/ros-controls/ros2_control/issues/2078>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich, Julia Jia, Sai Kishor Kothakota, Soham Patil, danielcostanzi18, github-actions[bot]
+
 4.27.0 (2025-03-01)
 -------------------
 * [HW Components] Add fix for async hardware components improper rate (`#2076 <https://github.com/ros-controls/ros2_control/issues/2076>`_)

controller_manager/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_manager</name>
-  <version>4.27.0</version>
+  <version>4.28.0</version>
   <description>The main runnable entrypoint of ros2_control and home of controller management and resource management.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

controller_manager_msgs/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.28.0 (2025-04-10)
+-------------------
+* [CM] Extend the list controller and hardware components messages (`#2102 <https://github.com/ros-controls/ros2_control/issues/2102>`_)
+* Improve package descriptions & update maintainers (`#2103 <https://github.com/ros-controls/ros2_control/issues/2103>`_)
+* [CM] Add message field to the `switch_controller` service (`#2088 <https://github.com/ros-controls/ros2_control/issues/2088>`_)
+* [CM] Add controller_manager activity topic (`#2006 <https://github.com/ros-controls/ros2_control/issues/2006>`_)
+* Contributors: Bence Magyar, Sai Kishor Kothakota
+
 4.27.0 (2025-03-01)
 -------------------
 

controller_manager_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>controller_manager_msgs</name>
-  <version>4.27.0</version>
+  <version>4.28.0</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

hardware_interface/CHANGELOG.rst

@@ -2,6 +2,23 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.28.0 (2025-04-10)
+-------------------
+* [HW Interface] Use new handle API inside the hardware components (`#2092 <https://github.com/ros-controls/ros2_control/issues/2092>`_)
+* Integrate joint limit enforcement into `ros2_control` framework functional with Async controllers and components  (`#2047 <https://github.com/ros-controls/ros2_control/issues/2047>`_)
+* Make all packages use gmock, not gtest (`#2162 <https://github.com/ros-controls/ros2_control/issues/2162>`_)
+* Bump version of pre-commit hooks (`#2156 <https://github.com/ros-controls/ros2_control/issues/2156>`_)
+* [RM] Add error handling for missing `plugin` tags in URDF parsing (`#2138 <https://github.com/ros-controls/ros2_control/issues/2138>`_)
+* Use ros2_control_cmake (`#2134 <https://github.com/ros-controls/ros2_control/issues/2134>`_)
+* [Handle] Add support for booleans in the handles (`#2065 <https://github.com/ros-controls/ros2_control/issues/2065>`_)
+* Docs: Remove link to gazebo_ros2_control (`#2106 <https://github.com/ros-controls/ros2_control/issues/2106>`_)
+* Improve package descriptions & update maintainers (`#2103 <https://github.com/ros-controls/ros2_control/issues/2103>`_)
+* Use monotonic clock for triggering read-update-write cycles + fix for overruns (`#2046 <https://github.com/ros-controls/ros2_control/issues/2046>`_)
+* [RM] Fix skipped cycles by adjusting `rw_rate` handling (`#2091 <https://github.com/ros-controls/ros2_control/issues/2091>`_)
+* [CM] Add controller_manager activity topic (`#2006 <https://github.com/ros-controls/ros2_control/issues/2006>`_)
+* Improve API/lifecycle docs (`#2081 <https://github.com/ros-controls/ros2_control/issues/2081>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich, Mehul Anand, RobertWilbrandt, Sai Kishor Kothakota, Soham Patil, github-actions[bot]
+
 4.27.0 (2025-03-01)
 -------------------
 * [HW Components] Add fix for async hardware components improper rate (`#2076 <https://github.com/ros-controls/ros2_control/issues/2076>`_)

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -513,24 +513,77 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
     lifecycle_state_ = new_state;
   }
 
-  void set_state(const std::string & interface_name, const double & value)
+  template <typename T>
+  void set_state(const std::string & interface_name, const T & value)
   {
-    actuator_states_.at(interface_name)->set_value(value);
+    auto it = actuator_states_.find(interface_name);
+    if (it == actuator_states_.end())
+    {
+      throw std::runtime_error(
+        "State interface not found: " + interface_name +
+        " in actuator hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::unique_lock<std::shared_mutex> lock(handle->get_mutex());
+    std::ignore = handle->set_value(lock, value);
   }
 
-  double get_state(const std::string & interface_name) const
+  template <typename T = double>
+  T get_state(const std::string & interface_name) const
   {
-    return actuator_states_.at(interface_name)->get_value();
+    auto it = actuator_states_.find(interface_name);
+    if (it == actuator_states_.end())
+    {
+      throw std::runtime_error(
+        "State interface not found: " + interface_name +
+        " in actuator hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::shared_lock<std::shared_mutex> lock(handle->get_mutex());
+    const auto opt_value = handle->get_optional<T>(lock);
+    if (!opt_value)
+    {
+      throw std::runtime_error(
+        "Failed to get state value from interface: " + interface_name +
+        ". This should not happen.");
+    }
+    return opt_value.value();
   }
 
   void set_command(const std::string & interface_name, const double & value)
   {
-    actuator_commands_.at(interface_name)->set_value(value);
+    auto it = actuator_commands_.find(interface_name);
+    if (it == actuator_commands_.end())
+    {
+      throw std::runtime_error(
+        "Command interface not found: " + interface_name +
+        " in actuator hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::unique_lock<std::shared_mutex> lock(handle->get_mutex());
+    std::ignore = handle->set_value(lock, value);
   }
 
-  double get_command(const std::string & interface_name) const
+  template <typename T = double>
+  T get_command(const std::string & interface_name) const
   {
-    return actuator_commands_.at(interface_name)->get_value();
+    auto it = actuator_commands_.find(interface_name);
+    if (it == actuator_commands_.end())
+    {
+      throw std::runtime_error(
+        "Command interface not found: " + interface_name +
+        " in actuator hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::shared_lock<std::shared_mutex> lock(handle->get_mutex());
+    const auto opt_value = handle->get_optional<double>(lock);
+    if (!opt_value)
+    {
+      throw std::runtime_error(
+        "Failed to get command value from interface: " + interface_name +
+        ". This should not happen.");
+    }
+    return opt_value.value();
   }
 
   /// Get the logger of the ActuatorInterface.

hardware_interface/include/hardware_interface/handle.hpp

@@ -172,6 +172,22 @@ class Handle
   [[nodiscard]] std::optional<T> get_optional() const
   {
     std::shared_lock<std::shared_mutex> lock(handle_mutex_, std::try_to_lock);
+    return get_optional<T>(lock);
+  }
+  /**
+   * @brief Get the value of the handle.
+   * @tparam T The type of the value to be retrieved.
+   * @param lock The lock to access the value.
+   * @return The value of the handle if it accessed successfully, std::nullopt otherwise.
+   *
+   * @note The method is thread-safe and non-blocking.
+   * @note When different threads access the same handle at same instance, and if they are unable to
+   * lock the handle to access the value, the handle returns std::nullopt. If the operation is
+   * successful, the value is returned.
+   */
+  template <typename T = double>
+  [[nodiscard]] std::optional<T> get_optional(std::shared_lock<std::shared_mutex> & lock) const
+  {
     if (!lock.owns_lock())
     {
       return std::nullopt;
@@ -259,6 +275,24 @@ class Handle
   [[nodiscard]] bool set_value(const T & value)
   {
     std::unique_lock<std::shared_mutex> lock(handle_mutex_, std::try_to_lock);
+    return set_value(lock, value);
+  }
+
+  /**
+   * @brief Set the value of the handle.
+   * @tparam T The type of the value to be set.
+   * @param lock The lock to set the value.
+   * @param value The value to be set.
+   * @return true if the value is set successfully, false otherwise.
+   *
+   * @note The method is thread-safe and non-blocking.
+   * @note When different threads access the same handle at same instance, and if they are unable to
+   * lock the handle to set the value, the handle returns false. If the operation is successful, the
+   * handle is updated and returns true.
+   */
+  template <typename T>
+  [[nodiscard]] bool set_value(std::unique_lock<std::shared_mutex> & lock, const T & value)
+  {
     if (!lock.owns_lock())
     {
       return false;
@@ -285,6 +319,8 @@ class Handle
     // END
   }
 
+  std::shared_mutex & get_mutex() { return handle_mutex_; }
+
   HandleDataType get_data_type() const { return data_type_; }
 
 private:

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -325,14 +325,41 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     lifecycle_state_ = new_state;
   }
 
-  void set_state(const std::string & interface_name, const double & value)
+  template <typename T>
+  void set_state(const std::string & interface_name, const T & value)
   {
-    sensor_states_map_.at(interface_name)->set_value(value);
+    auto it = sensor_states_map_.find(interface_name);
+    if (it == sensor_states_map_.end())
+    {
+      throw std::runtime_error(
+        "State interface not found: " + interface_name +
+        " in sensor hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::unique_lock<std::shared_mutex> lock(handle->get_mutex());
+    std::ignore = handle->set_value(lock, value);
   }
 
-  double get_state(const std::string & interface_name) const
+  template <typename T = double>
+  T get_state(const std::string & interface_name) const
   {
-    return sensor_states_map_.at(interface_name)->get_value();
+    auto it = sensor_states_map_.find(interface_name);
+    if (it == sensor_states_map_.end())
+    {
+      throw std::runtime_error(
+        "State interface not found: " + interface_name +
+        " in sensor hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::shared_lock<std::shared_mutex> lock(handle->get_mutex());
+    const auto opt_value = handle->get_optional<T>(lock);
+    if (!opt_value)
+    {
+      throw std::runtime_error(
+        "Failed to get state value from interface: " + interface_name +
+        ". This should not happen.");
+    }
+    return opt_value.value();
   }
 
   /// Get the logger of the SensorInterface.

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -543,24 +543,77 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     lifecycle_state_ = new_state;
   }
 
-  void set_state(const std::string & interface_name, const double & value)
+  template <typename T>
+  void set_state(const std::string & interface_name, const T & value)
   {
-    system_states_.at(interface_name)->set_value(value);
+    auto it = system_states_.find(interface_name);
+    if (it == system_states_.end())
+    {
+      throw std::runtime_error(
+        "State interface not found: " + interface_name +
+        " in system hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::unique_lock<std::shared_mutex> lock(handle->get_mutex());
+    std::ignore = handle->set_value(lock, value);
   }
 
-  double get_state(const std::string & interface_name) const
+  template <typename T = double>
+  T get_state(const std::string & interface_name) const
   {
-    return system_states_.at(interface_name)->get_value();
+    auto it = system_states_.find(interface_name);
+    if (it == system_states_.end())
+    {
+      throw std::runtime_error(
+        "State interface not found: " + interface_name +
+        " in system hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::shared_lock<std::shared_mutex> lock(handle->get_mutex());
+    const auto opt_value = handle->get_optional<T>(lock);
+    if (!opt_value)
+    {
+      throw std::runtime_error(
+        "Failed to get state value from interface: " + interface_name +
+        ". This should not happen.");
+    }
+    return opt_value.value();
   }
 
   void set_command(const std::string & interface_name, const double & value)
   {
-    system_commands_.at(interface_name)->set_value(value);
+    auto it = system_commands_.find(interface_name);
+    if (it == system_commands_.end())
+    {
+      throw std::runtime_error(
+        "Command interface not found: " + interface_name +
+        " in system hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::unique_lock<std::shared_mutex> lock(handle->get_mutex());
+    std::ignore = handle->set_value(lock, value);
   }
 
-  double get_command(const std::string & interface_name) const
+  template <typename T = double>
+  T get_command(const std::string & interface_name) const
   {
-    return system_commands_.at(interface_name)->get_value();
+    auto it = system_commands_.find(interface_name);
+    if (it == system_commands_.end())
+    {
+      throw std::runtime_error(
+        "Command interface not found: " + interface_name +
+        " in system hardware component: " + info_.name + ". This should not happen.");
+    }
+    auto & handle = it->second;
+    std::shared_lock<std::shared_mutex> lock(handle->get_mutex());
+    const auto opt_value = handle->get_optional<double>(lock);
+    if (!opt_value)
+    {
+      throw std::runtime_error(
+        "Failed to get command value from interface: " + interface_name +
+        ". This should not happen.");
+    }
+    return opt_value.value();
   }
 
   /// Get the logger of the SystemInterface.

hardware_interface/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface</name>
-  <version>4.27.0</version>
+  <version>4.28.0</version>
   <description>Base classes for hardware abstraction and tooling for them</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>