release: version 3.2.0

Version 3.2.0 is a minor update to modulo with a new feature that allows the component period parameter to be set
through a new parameter called 'rate'. In the future, the period parameter will be deprecated.

.devcontainer/devcontainer.json

@@ -16,6 +16,9 @@
     "vscode": {
       "extensions": [
         "ms-vscode.cpptools-extension-pack",
+        "ms-python.pylint",
+        "ms-python.autopep8",
+        "ms-python.isort",
         "eamodio.gitlens"
       ]
     }

.github/workflows/build-release.yaml

@@ -1,26 +1,70 @@
-name: Build and Push Multi-Arch Images
+name: Build and release
 
 on:
   push:
     branches:
-      - develop
       - main
-    tags:
-      - "v*.*.*"
 
 jobs:
-  get-tag:
-    runs-on: ubuntu-latest
-    name: Get tag
+  check-version:
+    name: Check if the version has been updated
     outputs:
-      tag: ${{ steps.parse-tag.outputs.tag }}
+      has_changed: ${{ steps.check.outputs.has_changed }}
+      version: ${{ steps.versions.outputs.new_version }}
+    runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
-      - uses: aica-technology/.github/.github/actions/docker-tag-from-git@v0.6.1
-        id: parse-tag
+        with:
+          fetch-depth: 2
+      - id: versions
+        run: |
+          PREV_VERSION=$(git show HEAD^:VERSION)
+          NEW_VERSION=$(git show HEAD:VERSION)
+          echo "prev_version=${PREV_VERSION}" >> $GITHUB_OUTPUT
+          echo "new_version=${NEW_VERSION}" >> $GITHUB_OUTPUT
+        shell: bash
+      - uses: aica-technology/.github/.github/actions/compare-versions@v0.11.0
+        id: check
+        with:
+          previous_version: ${{ steps.versions.outputs.prev_version }}
+          new_version: ${{ steps.versions.outputs.new_version }}
+
+  metadata:
+    name: Get metadata
+    needs: check-version
+    runs-on: ubuntu-latest
+    outputs:
+      image_name: ${{ steps.ensure-image.outputs.image_name }}
+      image_tags: ${{ steps.tags.outputs.image_tags }}
+      create_tag: ${{ steps.tags.outputs.create_tag }}
+      git_tag: ${{ steps.tags.outputs.git_tag }}
+    steps:
+      - uses: aica-technology/.github/.github/actions/ghcr-ensure-prefix@v0.6.0
+        id: ensure-image
+        with:
+          image_name: aica-technology/modulo
+
+      - run: |
+          CREATE_TAG=false
+          GIT_TAG=""
+          if [ ${{ needs.check-version.outputs.has_changed }} = 'true' ]; then
+            CREATE_TAG=true
+            GIT_TAG="v${{ needs.check-version.outputs.version }}"
+            IMAGE_TAGS=latest,"${GIT_TAG}",rolling
+          else
+            IMAGE_TAGS=rolling
+          fi
+          echo "Image tags: ${IMAGE_TAGS}"
+          echo "Create tag: ${CREATE_TAG}"
+          echo "Git tag: ${GIT_TAG}"
+          echo "image_tags=${IMAGE_TAGS}" >> $GITHUB_OUTPUT
+          echo "create_tag=${CREATE_TAG}" >> $GITHUB_OUTPUT
+          echo "git_tag=${GIT_TAG}" >> $GITHUB_OUTPUT
+        id: tags
+        shell: bash
 
   build:
-    needs: [get-tag]
+    needs: metadata
     strategy:
       matrix:
         arch: [amd64, arm64]
@@ -38,24 +82,24 @@ jobs:
       - uses: aica-technology/.github/.github/actions/list-add-suffixes@v0.6.0
         id: merge-tags
         with:
-          list: ${{ needs.get-tag.outputs.tag }}
+          list: ${{ needs.metadata.outputs.image_tags }}
           suffixes: ${{ matrix.arch }}
           glue_separator: "-"
 
       - uses: aica-technology/.github/.github/actions/ghcr-build@v0.6.1
         with:
-          image_name: aica-technology/modulo
+          image_name: ${{ needs.metadata.outputs.image_name }}
           image_tags: ${{ steps.merge-tags.outputs.list }}
           token: ${{ secrets.GITHUB_TOKEN }}
 
   multi-arch:
     runs-on: ubuntu-latest
     name: Merge into a multi-arch image
-    needs: [get-tag, build]
+    needs: [ metadata, build ]
     steps:
       - uses: aica-technology/.github/.github/actions/ghcr-manifest-merge@v0.6.1
         with:
-          image_name: aica-technology/modulo
-          image_tags: ${{ needs.get-tag.outputs.tag }}
+          image_name: ${{ needs.metadata.outputs.image_name }}
+          image_tags: ${{ needs.metadata.outputs.image_tags }}
           archs: amd64,arm64
           token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/generate-docs.yml

@@ -3,7 +3,6 @@ on:
   push:
     branches:
       - main
-      - develop
   release:
     types: [published]
   workflow_dispatch:

.github/workflows/build-test.yml → .github/workflows/test.yml

@@ -1,27 +1,20 @@
-name: Build and Test
+name: Check CHANGELOG update and run tests
 
 on:
   pull_request:
-  workflow_dispatch:
 
 jobs:
-  check:
-    name: Check if changelog and version have been updated
+  check-changelog:
+    name: Check if changelog has been updated
     runs-on: ubuntu-latest
     steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Check changelog
-        run: |
+      - uses: actions/checkout@v3
+      - run: |
           git fetch origin main ${{ github.event.pull_request.base.sha }}
-          VER_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./VERSION)
-          if ! [ "${VER_DIFF}" ]; then
-            echo "::warning title=Version check failed::VERSION must be updated!"
-            exit 1
-          fi
-          CL_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./CHANGELOG.md)
-          if ! [ "${CL_DIFF}" ]; then
-            echo "::warning title=CHEANGELOG check failed::CHANGELOG.md must be updated!"
+          PACKAGE_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./source)
+          CL_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- CHANGELOG.md)
+          if [ "${PACKAGE_DIFF}" ] && ! [ "${CL_DIFF}" ]; then
+            echo "::error file="CHANGELOG.md",title=Check failed::CHANGELOG.md must be updated!"
             exit 1
           fi
         shell: bash
@@ -30,14 +23,13 @@ jobs:
     name: Check skippable changes
     runs-on: ubuntu-latest
     outputs:
-      skip: ${{ steps.check_if_skippable.outputs.should_skip }}
+      skip: ${{ steps.check.outputs.should_skip }}
     steps:
-      - id: check_if_skippable
+      - id: check
         uses: fkirc/skip-duplicate-actions@master
         with:
           cancel_others: 'true'
-          do_not_skip: '["workflow_dispatch"]'
-          paths_ignore: '["**.md"]'
+          paths_ignore: '["**.md", ".**/**", "**.gitignore", "**.sh"]'
           skip_after_successful_duplicate: 'true'
 
   test:

.vscode/c_cpp_properties.json

@@ -3,7 +3,7 @@
         {
             "name": "AMD",
             "includePath": [
-                "/opt/ros/humble/include/**",
+                "/opt/ros/iron/include/**",
                 "/home/ros2/ros2_ws/install/**",
                 "/home/ros2/ws/install/**",
                 "/home/ros2/ws/src/modulo_utils/include",

.vscode/settings.json

@@ -1,4 +1,11 @@
 {
     "C_Cpp.clang_format_style": "file:/home/ros2/.clang-format",
     "cmake.sourceDirectory": "/home/ros2/ws/src/modulo_components",
+    "python.analysis.typeCheckingMode": "basic",
+    "python.languageServer": "Pylance",
+    "editor.rulers": [
+        120
+    ],
+    "autopep8.args": ["--max-line-length", "120", "--experimental"],
+    "pylint.args": ["--generate-members", "--max-line-length", "120", "-d", "C0114", "-d",  "C0115", "-d", "C0116"]
 }

CHANGELOG.md

@@ -2,12 +2,33 @@
 
 Release Versions:
 
-- [3.1.0](#300)
+- [3.2.0](#320)
+- [3.1.0](#310)
 - [3.0.0](#300)
 - [2.3.0](#230)
 - [2.2.0](#220)
 - [2.1.1](#211)
 - [2.1.0](#210)
+
+## 3.2.0
+
+### October 23, 2023
+
+Version 3.2.0 is a minor update to modulo with a new feature that allows the component period parameter to be set
+through a new parameter called 'rate'. In the future, the period parameter will be deprecated.
+
+Additionally, this is the last release with the current release strategy of creating release branches from develop and
+merging them to main. From now on, branches will be directly created from main and merged back to main. If there is a
+version update in such a PR, the CI will automatically create a new tag and push a tagged image.
+
+### Features
+
+- feat: add rate parameter to component interface (#57)
+
+### Behind the scenes
+
+- build: prepare workflows for deletion of develop branch (#58)
+
 ## 3.1.0
 
 ### September 27, 2023

VERSION

@@ -1 +1 @@
-3.1.0
+3.2.0

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Modulo"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 3.1.0
+PROJECT_NUMBER = 3.2.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

source/modulo_component_interfaces/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>modulo_component_interfaces</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Interface package for communicating with modulo components through the ROS framework</description>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
   <license>GPLv3</license>

source/modulo_components/component_descriptions/modulo_component.json

@@ -8,12 +8,20 @@
   "registration":  "modulo_components::Component",
   "inherits": "",
   "parameters": [
+    {
+      "display_name": "Rate",
+      "description": "The frequency in Hertz for all periodic callbacks",
+      "parameter_name": "rate",
+      "parameter_type": "int",
+      "default_value": "10"
+    },
     {
       "display_name": "Period",
-      "description": "The time interval in seconds for all periodic callbacks",
+      "description": "The time interval in seconds for all periodic callbacks. This parameter is deprecated and will be removed in the next major release. The rate parameter takes precedence and overrides the component period.",
       "parameter_name": "period",
       "parameter_type": "double",
-      "default_value": "0.1"
+      "default_value": "0.1",
+      "internal": true
     }
   ],
   "predicates": [

source/modulo_components/component_descriptions/modulo_lifecycle_component.json

@@ -8,12 +8,20 @@
   "registration":  "modulo_components::LifecycleComponent",
   "inherits": "",
   "parameters": [
+    {
+      "display_name": "Rate",
+      "description": "The frequency in Hertz for all periodic callbacks",
+      "parameter_name": "rate",
+      "parameter_type": "int",
+      "default_value": "10"
+    },
     {
       "display_name": "Period",
-      "description": "The time interval in seconds for all periodic callbacks",
+      "description": "The time interval in seconds for all periodic callbacks. This parameter is deprecated and will be removed in the next major release. The rate parameter takes precedence and overrides the component period.",
       "parameter_name": "period",
       "parameter_type": "double",
-      "default_value": "0.1"
+      "default_value": "0.1",
+      "internal": true
     }
   ],
   "predicates": [

source/modulo_components/include/modulo_components/ComponentInterface.hpp

@@ -592,14 +592,15 @@ class ComponentInterface : public NodeT {
 template<class NodeT>
 ComponentInterface<NodeT>::ComponentInterface(
     const rclcpp::NodeOptions& options, modulo_core::communication::PublisherType publisher_type,
-    const std::string& fallback_name
-) :
-    NodeT(utilities::parse_node_name(options, fallback_name), options), publisher_type_(publisher_type) {
+    const std::string& fallback_name)
+    : NodeT(utilities::parse_node_name(options, fallback_name), utilities::modify_parameter_overrides(options)),
+      publisher_type_(publisher_type) {
   // register the parameter change callback handler
   parameter_cb_handle_ = NodeT::add_on_set_parameters_callback(
       [this](const std::vector<rclcpp::Parameter>& parameters) -> rcl_interfaces::msg::SetParametersResult {
         return this->on_set_parameters_callback(parameters);
       });
+  this->add_parameter("rate", 10, "The rate in Hertz for all periodic callbacks", true);
   this->add_parameter("period", 0.1, "The time interval in seconds for all periodic callbacks", true);
 
   this->predicate_publisher_ =
@@ -712,6 +713,13 @@ template<class NodeT>
 inline bool ComponentInterface<NodeT>::validate_parameter(
     const std::shared_ptr<state_representation::ParameterInterface>& parameter
 ) {
+  if (parameter->get_name() == "rate") {
+    auto value = parameter->get_parameter_value<int>();
+    if (value <= 0 || !std::isfinite(value)) {
+      RCLCPP_ERROR(this->get_logger(), "Value for parameter 'rate' has to be a positive finite number.");
+      return false;
+    }
+  }
   if (parameter->get_name() == "period") {
     auto value = parameter->get_parameter_value<double>();
     if (value <= 0.0 || !std::isfinite(value)) {

source/modulo_components/include/modulo_components/utilities/utilities.hpp

@@ -61,4 +61,40 @@ parse_node_name(const rclcpp::NodeOptions& options, const std::string& fallback
   }
   return output;
 }
+
+/**
+ * @brief Modify parameter overrides to handle the rate and period parameters
+ * @details This function checks for existence of the rate and period parameter in the parameter overrides
+ * and modifies them to correspond to the same value. If both the rate and the period parameter exist, the period will
+ * be set from the rate.
+ * @param options The node options passed to the component constructor
+ * @return The same node options with modified parameter overrides
+*/
+[[maybe_unused]] static rclcpp::NodeOptions modify_parameter_overrides(const rclcpp::NodeOptions& options) {
+  auto modified = options;
+  rclcpp::Parameter rate;
+  rclcpp::Parameter period;
+  std::vector<rclcpp::Parameter> parameters;
+  for (const auto& parameter : options.parameter_overrides()) {
+    if (parameter.get_name() == "rate") {
+      rate = parameter;
+    } else if (parameter.get_name() == "period") {
+      period = parameter;
+    } else {
+      parameters.push_back(parameter);
+    }
+  }
+  if (rate.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET) {
+    period = rclcpp::Parameter("period", 1.0 / rate.as_int());
+  } else if (period.get_type() != rclcpp::ParameterType::PARAMETER_NOT_SET) {
+    rate = rclcpp::Parameter("rate", static_cast<int>(1.0 / period.as_double()));
+  } else {
+    modified.parameter_overrides() = parameters;
+    return modified;
+  }
+  parameters.push_back(rate);
+  parameters.push_back(period);
+  modified.parameter_overrides() = parameters;
+  return modified;
+}
 }// namespace modulo_components::utilities