Merge branch 'master' into jtc/fix_state_offset_tests

.github/mergify.yml

@@ -8,6 +8,16 @@ pull_request_rules:
         branches:
           - humble
 
+
+  - name: Backport to iron at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-iron"
+    actions:
+      backport:
+        branches:
+          - iron
+
   - name: Ask to resolve conflict
     conditions:
       - conflict

.github/workflows/ci-coverage-build.yml

@@ -1,8 +1,6 @@
 name: Coverage Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   push:
     branches:
       - master

.github/workflows/iron-abi-compatibility.yml

@@ -0,0 +1,20 @@
+name: Iron - ABI Compatibility Check
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: iron
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true

.github/workflows/iron-binary-build-main.yml

@@ -0,0 +1,30 @@
+name: Iron Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: main
+      upstream_workspace: ros2_controllers-not-released.iron.repos
+      ref_for_scheduled_build: iron

.github/workflows/iron-binary-build-testing.yml

@@ -0,0 +1,30 @@
+name: Iron Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: testing
+      upstream_workspace: ros2_controllers-not-released.iron.repos
+      ref_for_scheduled_build: iron

.github/workflows/iron-rhel-binary-build.yml

@@ -0,0 +1,28 @@
+name: Iron RHEL Binary Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_rhel_binary:
+    name: Iron RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-rhel
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_controllers
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test

.github/workflows/iron-semi-binary-build-main.yml

@@ -0,0 +1,29 @@
+name: Iron Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: main
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron

.github/workflows/iron-semi-binary-build-testing.yml

@@ -0,0 +1,29 @@
+name: Iron Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: testing
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron

.github/workflows/iron-source-build.yml

@@ -0,0 +1,19 @@
+name: Iron Source Build
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: iron
+      ref: iron
+      ros2_repo_branch: iron

.github/workflows/prerelease-check.yml

@@ -10,6 +10,7 @@ on:
         type: choice
         options:
         - humble
+        - iron
         - rolling
       branch:
         description: 'Chose branch for distro'
@@ -18,6 +19,7 @@ on:
         type: choice
         options:
         - humble
+        - iron
         - master
 
 jobs:

.pre-commit-config.yaml

@@ -58,21 +58,10 @@ repos:
       args: ["--ignore=E501"]
 
   # CPP hooks
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
     hooks:
       - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format-14
-        language: system
-        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
-        args: ['-fallback-style=none', '-i']
-  # The same options as in ament_cppcheck are used, but its not working...
-  #- repo: https://github.com/pocc/pre-commit-hooks
-    #rev: v1.1.1
-    #hooks:
-      #- id: cppcheck
-        #args: ['--error-exitcode=1', '-f', '--inline-suppr', '-q', '-rp', '--suppress=internalAstError', '--suppress=unknownMacro', '--verbose']
 
   - repo: local
     hooks:

README.md

@@ -1,12 +1,16 @@
 # ros2_controllers
 
+[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+[![codecov](https://codecov.io/gh/ros-controls/ros2_controllers/graph/badge.svg?token=KSdY0tsHm6)](https://codecov.io/gh/ros-controls/ros2_controllers)
+
 Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Navigation2.
 
 ## Build status
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
+**Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build-main.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build-main.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
 
 ### Explanation of different build types

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -147,7 +147,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

admittance_controller/test/test_admittance_controller.hpp

@@ -185,7 +185,7 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result = controller_->init(controller_name, "", options);
+    auto result = controller_->init(controller_name, "", "", options);
 
     controller_->export_reference_interfaces();
     assign_interfaces();

bicycle_steering_controller/test/test_bicycle_steering_controller.hpp

@@ -144,7 +144,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")
   {
-    ASSERT_EQ(controller_->init(controller_name), controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(controller_name, ""), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

diff_drive_controller/doc/userdoc.rst

@@ -48,9 +48,6 @@ Subscribers
 ~/cmd_vel [geometry_msgs/msg/TwistStamped]
   Velocity command for the controller, if ``use_stamped_vel=true``. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
 
-~/cmd_vel_unstamped [geometry_msgs::msg::Twist]
-  Velocity command for the controller, if ``use_stamped_vel=false``. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
-
 
 Publishers
 ,,,,,,,,,,,

diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp

@@ -127,8 +127,6 @@ class DiffDriveController : public controller_interface::ControllerInterface
 
   bool subscriber_is_active_ = false;
   rclcpp::Subscription<Twist>::SharedPtr velocity_command_subscriber_ = nullptr;
-  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr
-    velocity_command_unstamped_subscriber_ = nullptr;
 
   realtime_tools::RealtimeBox<std::shared_ptr<Twist>> received_velocity_msg_ptr_{nullptr};
 
@@ -151,7 +149,6 @@ class DiffDriveController : public controller_interface::ControllerInterface
   rclcpp::Time previous_publish_timestamp_{0, 0, RCL_CLOCK_UNINITIALIZED};
 
   bool is_halted = false;
-  bool use_stamped_vel_ = true;
 
   bool reset();
   void halt();