Merge branch 'master' into fix/spawner/on/resource/conflict

.github/ISSUE_TEMPLATE/good-first-issue.md

@@ -2,7 +2,7 @@
 name: Good first issue
 about: Create an issue to welcome a new contributor into the community.
 title: ''
-labels: good-first-issue
+labels: ["good first issue"]
 assignees: ''
 
 ---

controller_interface/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.22.0 (2024-12-20)
+-------------------
+* Fixed typo. Added s to state_interfaces\_ (`#1930 <https://github.com/ros-controls/ros2_control/issues/1930>`_)
+* [CI] Add clang job, setup concurrency, use rt_tools humble branch (`#1910 <https://github.com/ros-controls/ros2_control/issues/1910>`_)
+* Contributors: Christoph Fröhlich, louietouie
+
 4.21.0 (2024-12-06)
 -------------------
 * [Diagnostics] Add diagnostics of execution time and periodicity of the controllers and controller_manager (`#1871 <https://github.com/ros-controls/ros2_control/issues/1871>`_)

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>4.21.0</version>
+  <version>4.22.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

controller_manager/CHANGELOG.rst

@@ -2,6 +2,19 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.22.0 (2024-12-20)
+-------------------
+* Async Hardware Components (`#1567 <https://github.com/ros-controls/ros2_control/issues/1567>`_)
+* Add controller node options args to be able to set controller specific node arguments (`#1713 <https://github.com/ros-controls/ros2_control/issues/1713>`_)
+* Use singleton approach to store and reuse the service clients (`#1949 <https://github.com/ros-controls/ros2_control/issues/1949>`_)
+* Increase the max and min periodicity tolerances to fix flaky tests (`#1937 <https://github.com/ros-controls/ros2_control/issues/1937>`_)
+* Fix the spawner to support full wildcard parameter entries (`#1933 <https://github.com/ros-controls/ros2_control/issues/1933>`_)
+* Suppress unnecessary warnings in clock received validation (`#1935 <https://github.com/ros-controls/ros2_control/issues/1935>`_)
+* Optimize the valid time check in the update loop (`#1923 <https://github.com/ros-controls/ros2_control/issues/1923>`_)
+* [CI] Add clang job, setup concurrency, use rt_tools humble branch (`#1910 <https://github.com/ros-controls/ros2_control/issues/1910>`_)
+* Update CPU affinity parameter to be able to set multiple CPUs (`#1915 <https://github.com/ros-controls/ros2_control/issues/1915>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota, Takashi Sato
+
 4.21.0 (2024-12-06)
 -------------------
 * Use the .hpp headers from realtime_tools package (`#1916 <https://github.com/ros-controls/ros2_control/issues/1916>`_)

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>4.21.0</version>
+  <version>4.22.0</version>
   <description>Description of controller_manager</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

controller_manager_msgs/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.22.0 (2024-12-20)
+-------------------
+
 4.21.0 (2024-12-06)
 -------------------
 

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>4.21.0</version>
+  <version>4.22.0</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 +2,16 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.22.0 (2024-12-20)
+-------------------
+* Propagate read/write rate to the HardwareInfo properly (`#1928 <https://github.com/ros-controls/ros2_control/issues/1928>`_)
+* Async Hardware Components (`#1567 <https://github.com/ros-controls/ros2_control/issues/1567>`_)
+* Add controller node options args to be able to set controller specific node arguments (`#1713 <https://github.com/ros-controls/ros2_control/issues/1713>`_)
+* Make get_name() return a const reference (`#1952 <https://github.com/ros-controls/ros2_control/issues/1952>`_)
+* Let sensors also export state interfaces of joints (`#1885 <https://github.com/ros-controls/ros2_control/issues/1885>`_)
+* [CI] Add clang job, setup concurrency, use rt_tools humble branch (`#1910 <https://github.com/ros-controls/ros2_control/issues/1910>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota, Takashi Sato
+
 4.21.0 (2024-12-06)
 -------------------
 * [Feature] Choose different read and write rate for the hardware components (`#1570 <https://github.com/ros-controls/ros2_control/issues/1570>`_)

hardware_interface/doc/asynchronous_components.rst

@@ -0,0 +1,99 @@
+:github_url: https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/hardware_interface/doc/different_update_rates_userdoc.rst
+
+.. _asynchronous_components:
+
+Running Hardware Components Asynchronously
+============================================
+
+The ``ros2_control`` framework allows to run hardware components asynchronously. This is useful when some of the hardware components need to run in a separate thread or executor. For example, a sensor takes longer to read data that affects the periodicity of the  ``controller_manager`` control loop. In this case, the sensor can be run in a separate thread or executor to avoid blocking the control loop.
+
+Parameters
+-----------
+
+The following parameters can be set in the ``ros2_control`` hardware configuration to run the hardware component asynchronously:
+
+* ``is_async``: (optional) If set to ``true``, the hardware component will run asynchronously. Default is ``false``.
+* ``thread_priority``: (optional) The priority of the thread that runs the hardware component. The priority is an integer value between 0 and 99. The default value is 50.
+
+.. note::
+  The thread priority is only used when the hardware component is run asynchronously.
+  When the hardware component is run asynchronously, it uses the FIFO scheduling policy.
+
+Examples
+---------
+
+The following examples show how to use the different hardware interface types synchronously and asynchronously with ``ros2_control`` URDF.
+They can be combined together within the different hardware component types (system, actuator, sensor) (:ref:`see detailed documentation <overview_hardware_components>`) as follows
+
+For a RRBot with multimodal gripper and external sensor:
+
+.. code-block:: xml
+
+  <ros2_control name="RRBotSystemMutipleGPIOs" type="system">
+    <hardware>
+      <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
+      <param name="example_param_hw_start_duration_sec">2.0</param>
+      <param name="example_param_hw_stop_duration_sec">3.0</param>
+      <param name="example_param_hw_slowdown">2.0</param>
+    </hardware>
+    <joint name="joint1">
+      <command_interface name="position">
+        <param name="min">-1</param>
+        <param name="max">1</param>
+      </command_interface>
+      <state_interface name="position"/>
+    </joint>
+    <joint name="joint2">
+      <command_interface name="position">
+        <param name="min">-1</param>
+        <param name="max">1</param>
+      </command_interface>
+      <state_interface name="position"/>
+    </joint>
+    <gpio name="flange_digital_IOs">
+      <command_interface name="digital_output1"/>
+      <state_interface name="digital_output1"/>    <!-- Needed to know current state of the output -->
+      <command_interface name="digital_output2"/>
+      <state_interface name="digital_output2"/>
+      <state_interface name="digital_input1"/>
+      <state_interface name="digital_input2"/>
+    </gpio>
+  </ros2_control>
+  <ros2_control name="MultimodalGripper" type="actuator" is_async="true" thread_priority="30">
+    <hardware>
+      <plugin>ros2_control_demo_hardware/MultimodalGripper</plugin>
+    </hardware>
+    <joint name="parallel_fingers">
+      <command_interface name="position">
+        <param name="min">0</param>
+        <param name="max">100</param>
+      </command_interface>
+      <state_interface name="position"/>
+    </joint>
+  </ros2_control>
+  <ros2_control name="RRBotForceTorqueSensor2D" type="sensor" is_async="true">
+    <hardware>
+      <plugin>ros2_control_demo_hardware/ForceTorqueSensor2DHardware</plugin>
+      <param name="example_param_read_for_sec">0.43</param>
+    </hardware>
+    <sensor name="tcp_fts_sensor">
+      <state_interface name="fx"/>
+      <state_interface name="tz"/>
+      <param name="frame_id">kuka_tcp</param>
+      <param name="fx_range">100</param>
+      <param name="tz_range">100</param>
+    </sensor>
+    <sensor name="temp_feedback">
+      <state_interface name="temperature"/>
+    </sensor>
+    <gpio name="calibration">
+      <command_interface name="calibration_matrix_nr"/>
+      <state_interface name="calibration_matrix_nr"/>
+    </gpio>
+  </ros2_control>
+
+In the above example, the following components are defined:
+
+* A system hardware component named ``RRBotSystemMutipleGPIOs`` with two joints and a GPIO component that runs synchronously.
+* An actuator hardware component named ``MultimodalGripper`` with a joint that runs asynchronously with a thread priority of 30.
+* A sensor hardware component named ``RRBotForceTorqueSensor2D`` with two sensors and a GPIO component that runs asynchronously with the default thread priority of 50.

hardware_interface/doc/hardware_components_userdoc.rst

@@ -17,6 +17,7 @@ Guidelines and Best Practices
    Hardware Interface Types <hardware_interface_types_userdoc.rst>
    Writing a Hardware Component <writing_new_hardware_component.rst>
    Different Update Rates <different_update_rates_userdoc.rst>
+   Asynchronous Execution <asynchronous_components.rst>
 
 
 Handling of errors that happen during read() and write() calls

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -27,6 +27,7 @@
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
+#include "hardware_interface/types/trigger_type.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/logger.hpp"
@@ -546,11 +547,6 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   // interface names to Handle accessed through getters/setters
   std::unordered_map<std::string, StateInterface::SharedPtr> actuator_states_;
   std::unordered_map<std::string, CommandInterface::SharedPtr> actuator_commands_;
-  enum class TriggerType
-  {
-    READ,
-    WRITE
-  };
   std::atomic<TriggerType> next_trigger_ = TriggerType::READ;
 };
 

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -28,6 +28,7 @@
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
+#include "hardware_interface/types/trigger_type.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/logger.hpp"
@@ -585,11 +586,6 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   // interface names to Handle accessed through getters/setters
   std::unordered_map<std::string, StateInterface::SharedPtr> system_states_;
   std::unordered_map<std::string, CommandInterface::SharedPtr> system_commands_;
-  enum class TriggerType
-  {
-    READ,
-    WRITE
-  };
   std::atomic<TriggerType> next_trigger_ = TriggerType::READ;
 };
 

hardware_interface/include/hardware_interface/types/trigger_type.hpp

@@ -0,0 +1,28 @@
+// Copyright 2024 ros2_control Development Team
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef HARDWARE_INTERFACE__TYPES__TRIGGER_TYPE_HPP_
+#define HARDWARE_INTERFACE__TYPES__TRIGGER_TYPE_HPP_
+
+namespace hardware_interface
+{
+enum class TriggerType
+{
+  READ,
+  WRITE
+};
+
+}  // namespace hardware_interface
+
+#endif  // HARDWARE_INTERFACE__TYPES__TRIGGER_TYPE_HPP_

hardware_interface/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface</name>
-  <version>4.21.0</version>
+  <version>4.22.0</version>
   <description>ros2_control hardware interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

hardware_interface/src/resource_manager.cpp

@@ -141,10 +141,7 @@ class ResourceStorage
         component_info.name = hardware_info.name;
         component_info.type = hardware_info.type;
         component_info.group = hardware_info.group;
-        component_info.rw_rate =
-          (hardware_info.rw_rate == 0 || hardware_info.rw_rate > cm_update_rate_)
-            ? cm_update_rate_
-            : hardware_info.rw_rate;
+        component_info.rw_rate = hardware_info.rw_rate;
         component_info.plugin_name = hardware_info.hardware_plugin_name;
         component_info.is_async = hardware_info.is_async;
 
@@ -1051,7 +1048,12 @@ bool ResourceManager::load_and_initialize_components(
 
   resource_storage_->cm_update_rate_ = update_rate;
 
-  const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
+  auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
+  // Set the update rate for all hardware components
+  for (auto & hw : hardware_info)
+  {
+    hw.rw_rate = (hw.rw_rate == 0 || hw.rw_rate > update_rate) ? update_rate : hw.rw_rate;
+  }
 
   const std::string system_type = "system";
   const std::string sensor_type = "sensor";

hardware_interface/test/mock_components/test_generic_system.cpp

@@ -699,9 +699,11 @@ class TestableResourceManager : public hardware_interface::ResourceManager
   }
 
   explicit TestableResourceManager(
-    rclcpp::Node & node, const std::string & urdf, bool activate_all = false)
+    rclcpp::Node & node, const std::string & urdf, bool activate_all = false,
+    unsigned int cm_update_rate = 100)
   : hardware_interface::ResourceManager(
-      urdf, node.get_node_clock_interface(), node.get_node_logging_interface(), activate_all, 100)
+      urdf, node.get_node_clock_interface(), node.get_node_logging_interface(), activate_all,
+      cm_update_rate)
   {
   }
 };
@@ -842,14 +844,17 @@ void generic_system_functional_test(
   EXPECT_EQ(
     status_map[component_name].state.label(),
     hardware_interface::lifecycle_state_names::UNCONFIGURED);
+  EXPECT_EQ(status_map[component_name].rw_rate, 100u);
   configure_components(rm, {component_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
     status_map[component_name].state.label(), hardware_interface::lifecycle_state_names::INACTIVE);
+  EXPECT_EQ(status_map[component_name].rw_rate, 100u);
   activate_components(rm, {component_name});
   status_map = rm.get_components_status();
   EXPECT_EQ(
     status_map[component_name].state.label(), hardware_interface::lifecycle_state_names::ACTIVE);
+  EXPECT_EQ(status_map[component_name].rw_rate, 100u);
 
   // Check initial values
   hardware_interface::LoanedStateInterface j1p_s = rm.claim_state_interface("joint1/position");
@@ -935,7 +940,7 @@ void generic_system_error_group_test(
   const std::string & urdf, const std::string component_prefix, bool validate_same_group)
 {
   rclcpp::Node node("test_generic_system");
-  TestableResourceManager rm(node, urdf);
+  TestableResourceManager rm(node, urdf, false, 200u);
   const std::string component1 = component_prefix + "1";
   const std::string component2 = component_prefix + "2";
   // check is hardware is configured
@@ -944,14 +949,17 @@ void generic_system_error_group_test(
   {
     EXPECT_EQ(
       status_map[component].state.label(), hardware_interface::lifecycle_state_names::UNCONFIGURED);
+    EXPECT_EQ(status_map[component].rw_rate, 200u);
     configure_components(rm, {component});
     status_map = rm.get_components_status();
     EXPECT_EQ(
       status_map[component].state.label(), hardware_interface::lifecycle_state_names::INACTIVE);
+    EXPECT_EQ(status_map[component].rw_rate, 200u);
     activate_components(rm, {component});
     status_map = rm.get_components_status();
     EXPECT_EQ(
       status_map[component].state.label(), hardware_interface::lifecycle_state_names::ACTIVE);
+    EXPECT_EQ(status_map[component].rw_rate, 200u);
   }
 
   // Check initial values