Merge branch 'master' into fix/exclusive_hw_interface_switching

Author: saikishor

.github/workflows/humble-pre-commit.yml

@@ -5,6 +5,9 @@ on:
   pull_request:
     branches:
       - humble
+  push:
+    branches:
+      - humble
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.github/workflows/jazzy-pre-commit.yml

@@ -5,6 +5,9 @@ on:
   pull_request:
     branches:
       - jazzy
+  push:
+    branches:
+      - jazzy
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.github/workflows/rolling-pre-commit.yml

@@ -5,6 +5,9 @@ on:
   pull_request:
     branches:
       - master
+  push:
+    branches:
+      - master
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.pre-commit-config.yaml

@@ -56,14 +56,14 @@ repos:
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.2.0
+    rev: 7.3.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v20.1.5
+    rev: v20.1.7
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -109,7 +109,7 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.2
+    rev: v2.0.0
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.33.0
+    rev: 0.33.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

controller_interface/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.3.0 (2025-07-02)
+------------------
+
 5.2.0 (2025-06-07)
 ------------------
 

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>5.2.0</version>
+  <version>5.3.0</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 +2,14 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.3.0 (2025-07-02)
+------------------
+* Cleanup old internal API (`#2346 <https://github.com/ros-controls/ros2_control/issues/2346>`_)
+* added params approach to allow propagation in gz_ros2_control (`#2340 <https://github.com/ros-controls/ros2_control/issues/2340>`_)
+* Deactivate controllers with command interfaces to hardware on DEACTIVATE (`#2334 <https://github.com/ros-controls/ros2_control/issues/2334>`_)
+* Shift to Struct based Method and Constructors, with Executor passed from CM to `on_init()` (`#2323 <https://github.com/ros-controls/ros2_control/issues/2323>`_)
+* Contributors: Marq Rasmussen, Sai Kishor Kothakota, Soham Patil
+
 5.2.0 (2025-06-07)
 ------------------
 * Move `enforce_command_limits` parameter to GPL parameters (`#2305 <https://github.com/ros-controls/ros2_control/issues/2305>`_)

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>5.2.0</version>
+  <version>5.3.0</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/src/controller_manager.cpp

@@ -410,8 +410,14 @@ ControllerManager::ControllerManager(
   robot_description_(urdf)
 {
   initialize_parameters();
-  resource_manager_ = std::make_unique<hardware_interface::ResourceManager>(
-    urdf, trigger_clock_, this->get_logger(), activate_all_hw_components, params_->update_rate);
+  hardware_interface::ResourceManagerParams params;
+  params.robot_description = urdf;
+  params.clock = trigger_clock_;
+  params.logger = this->get_logger();
+  params.activate_all = activate_all_hw_components;
+  params.update_rate = static_cast<unsigned int>(params_->update_rate);
+  params.executor = executor_;
+  resource_manager_ = std::make_unique<hardware_interface::ResourceManager>(params, true);
   init_controller_manager();
 }
 
@@ -615,7 +621,13 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
   {
     resource_manager_->import_joint_limiters(robot_description_);
   }
-  if (!resource_manager_->load_and_initialize_components(robot_description, update_rate_))
+  hardware_interface::ResourceManagerParams params;
+  params.robot_description = robot_description;
+  params.clock = trigger_clock_;
+  params.logger = this->get_logger();
+  params.executor = executor_;
+  params.update_rate = static_cast<unsigned int>(params_->update_rate);
+  if (!resource_manager_->load_and_initialize_components(params))
   {
     RCLCPP_WARN(
       get_logger(),
@@ -2679,9 +2691,9 @@ std::vector<std::string> ControllerManager::get_controller_names()
 void ControllerManager::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
   periodicity_stats_.AddMeasurement(1.0 / period.seconds());
-  auto [ok, failed_hardware_names] = resource_manager_->read(time, period);
+  auto [result, failed_hardware_names] = resource_manager_->read(time, period);
 
-  if (!ok)
+  if (result != hardware_interface::return_type::OK)
   {
     rt_buffer_.deactivate_controllers_list.clear();
     // Determine controllers to stop
@@ -2948,9 +2960,9 @@ controller_interface::return_type ControllerManager::update(
 
 void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  auto [ok, failed_hardware_names] = resource_manager_->write(time, period);
+  auto [result, failed_hardware_names] = resource_manager_->write(time, period);
 
-  if (!ok)
+  if (result == hardware_interface::return_type::ERROR)
   {
     rt_buffer_.deactivate_controllers_list.clear();
     // Determine controllers to stop
@@ -2978,6 +2990,51 @@ void ControllerManager::write(const rclcpp::Time & time, const rclcpp::Duration
     deactivate_controllers(rt_controller_list, rt_buffer_.deactivate_controllers_list);
     // TODO(destogl): do auto-start of broadcasters
   }
+  else if (result == hardware_interface::return_type::DEACTIVATE)
+  {
+    rt_buffer_.deactivate_controllers_list.clear();
+    auto loaded_controllers = get_loaded_controllers();
+    // Only stop controllers with active command interfaces to the failed_hardware_names
+    for (const auto & hardware_name : failed_hardware_names)
+    {
+      auto controllers = resource_manager_->get_cached_controllers_to_hardware(hardware_name);
+      for (const auto & controller : controllers)
+      {
+        auto controller_spec = std::find_if(
+          loaded_controllers.begin(), loaded_controllers.end(),
+          [&](const controller_manager::ControllerSpec & spec)
+          { return spec.c->get_name() == controller; });
+        if (controller_spec == loaded_controllers.end())
+        {
+          RCLCPP_WARN(
+            get_logger(),
+            "Deactivate failed to find controller [%s] in loaded controllers. "
+            "This can happen due to multiple returns of 'DEACTIVATE' from [%s] write()",
+            controller.c_str(), hardware_name.c_str());
+          continue;
+        }
+        std::vector<std::string> command_interface_names;
+        extract_command_interfaces_for_controller(
+          *controller_spec, resource_manager_, command_interface_names);
+        // if this controller has command interfaces add it to the deactivate_controllers_list
+        if (!command_interface_names.empty())
+        {
+          rt_buffer_.deactivate_controllers_list.push_back(controller);
+        }
+      }
+    }
+    RCLCPP_ERROR_EXPRESSION(
+      get_logger(), !rt_buffer_.deactivate_controllers_list.empty(),
+      "Deactivating controllers [%s] as their command interfaces are tied to DEACTIVATEing "
+      "hardware components",
+      rt_buffer_.get_concatenated_string(rt_buffer_.deactivate_controllers_list).c_str());
+    std::vector<ControllerSpec> & rt_controller_list =
+      rt_controllers_wrapper_.update_and_get_used_by_rt_list();
+
+    perform_hardware_command_mode_change(
+      rt_controller_list, {}, rt_buffer_.deactivate_controllers_list, "write");
+    deactivate_controllers(rt_controller_list, rt_buffer_.deactivate_controllers_list);
+  }
 }
 
 std::vector<ControllerSpec> &