Merge branch 'master' into fix/exclusive_hw_interface_switching

saikishor · web-flow · commit 6584d6cb649b · 2025-06-10T14:58:52.000+02:00
diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+
 5.1.0 (2025-05-24)
 ------------------
 * Use target_link_libraries instead of ament_target_dependencies (`#2266 <https://github.com/ros-controls/ros2_control/issues/2266>`_)
diff --git a/controller_interface/package.xml b/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>5.1.0</version>
+  <version>5.2.0</version>
   <description>Base classes for controllers and syntax cookies for supporting common sensor types in controllers and broadcasters</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+* Move `enforce_command_limits` parameter to GPL parameters (`#2305 <https://github.com/ros-controls/ros2_control/issues/2305>`_)
+* Cleanup test name (`#2295 <https://github.com/ros-controls/ros2_control/issues/2295>`_)
+* check_controllers_running: Make timeout a parameter  (`#2278 <https://github.com/ros-controls/ros2_control/issues/2278>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 5.1.0 (2025-05-24)
 ------------------
 * Use target_link_libraries instead of ament_target_dependencies (`#2266 <https://github.com/ros-controls/ros2_control/issues/2266>`_)
diff --git a/controller_manager/package.xml b/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>5.1.0</version>
+  <version>5.2.0</version>
   <description>The main runnable entrypoint of ros2_control and home of controller management and resource management.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/controller_manager_msgs/CHANGELOG.rst b/controller_manager_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package controller_manager_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+
 5.1.0 (2025-05-24)
 ------------------
 * Cleanup deprecations in `ros_control`  (`#2258 <https://github.com/ros-controls/ros2_control/issues/2258>`_)
diff --git a/controller_manager_msgs/package.xml b/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>5.1.0</version>
+  <version>5.2.0</version>
   <description>Messages and services for the controller manager.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/hardware_interface/CHANGELOG.rst b/hardware_interface/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+* hardware_interface: optimise & rename find_common_hardware_interfaces (`#2294 <https://github.com/ros-controls/ros2_control/issues/2294>`_)
+* also use std::mutex on macOS (`#2313 <https://github.com/ros-controls/ros2_control/issues/2313>`_)
+* Use std::mutex on windows (`#2311 <https://github.com/ros-controls/ros2_control/issues/2311>`_)
+* Contributors: Christoph Fröhlich, Daisuke Nishimatsu, Eldgar
+
 5.1.0 (2025-05-24)
 ------------------
 * [RM] Isolate start and stop interfaces for each Hardware Component (`#2120 <https://github.com/ros-controls/ros2_control/issues/2120>`_)
diff --git a/hardware_interface/package.xml b/hardware_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface</name>
-  <version>5.1.0</version>
+  <version>5.2.0</version>
   <description>Base classes for hardware abstraction and tooling for them</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/hardware_interface_testing/CHANGELOG.rst b/hardware_interface_testing/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package hardware_interface_testing
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+
 5.1.0 (2025-05-24)
 ------------------
 * [RM] Isolate start and stop interfaces for each Hardware Component (`#2120 <https://github.com/ros-controls/ros2_control/issues/2120>`_)
diff --git a/hardware_interface_testing/package.xml b/hardware_interface_testing/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>hardware_interface_testing</name>
-  <version>5.1.0</version>
+  <version>5.2.0</version>
   <description>Commonly used test fixtures for the ros2_control framework</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/joint_limits/CHANGELOG.rst b/joint_limits/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_limits
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+
 5.1.0 (2025-05-24)
 ------------------
 * Use target_link_libraries instead of ament_target_dependencies (`#2266 <https://github.com/ros-controls/ros2_control/issues/2266>`_)
diff --git a/joint_limits/package.xml b/joint_limits/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>joint_limits</name>
-  <version>5.1.0</version>
+  <version>5.2.0</version>
   <description>Package with interfaces for handling of joint limits in controllers or in hardware. The package also implements Saturation Joint Limiter for position-velocity-acceleration set and other individual interfaces.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
diff --git a/ros2_control/CHANGELOG.rst b/ros2_control/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+
 5.1.0 (2025-05-24)
 ------------------
 
diff --git a/ros2_control/package.xml b/ros2_control/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_control</name>
-  <version>5.1.0</version>
+  <version>5.2.0</version>
   <description>Metapackage for ROS2 control related packages</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/ros2_control_test_assets/CHANGELOG.rst b/ros2_control_test_assets/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_control_test_assets
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+
 5.1.0 (2025-05-24)
 ------------------
 * Read `data_type` for all types of interfaces (`#2235 <https://github.com/ros-controls/ros2_control/issues/2235>`_)
diff --git a/ros2_control_test_assets/package.xml b/ros2_control_test_assets/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>ros2_control_test_assets</name>
-  <version>5.1.0</version>
+  <version>5.2.0</version>
   <description>Shared test resources for ros2_control stack</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/ros2controlcli/CHANGELOG.rst b/ros2controlcli/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2controlcli
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+
 5.1.0 (2025-05-24)
 ------------------
 * Cleanup deprecations in `ros_control`  (`#2258 <https://github.com/ros-controls/ros2_control/issues/2258>`_)
diff --git a/ros2controlcli/package.xml b/ros2controlcli/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>ros2controlcli</name>
-  <version>5.1.0</version>
+  <version>5.2.0</version>
   <description>The ROS 2 command line tools for ros2_control.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/ros2controlcli/setup.py b/ros2controlcli/setup.py
@@ -19,7 +19,7 @@
 
 setup(
     name=package_name,
-    version="5.1.0",
+    version="5.2.0",
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/" + package_name, ["package.xml"]),
diff --git a/rqt_controller_manager/CHANGELOG.rst b/rqt_controller_manager/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rqt_controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+
 5.1.0 (2025-05-24)
 ------------------
 
diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/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>rqt_controller_manager</name>
-  <version>5.1.0</version>
+  <version>5.2.0</version>
   <description>Graphical frontend for interacting with the controller manager.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/rqt_controller_manager/setup.py b/rqt_controller_manager/setup.py
@@ -20,7 +20,7 @@
 
 setup(
     name=package_name,
-    version="5.1.0",
+    version="5.2.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/transmission_interface/CHANGELOG.rst b/transmission_interface/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package transmission_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.2.0 (2025-06-07)
+------------------
+* [Transmissions] Add `absolute_position` and `torque` interfaces (`#2310 <https://github.com/ros-controls/ros2_control/issues/2310>`_)
+* Fix pre-commit (`#2277 <https://github.com/ros-controls/ros2_control/issues/2277>`_)
+* Fix fourbarlinkage (`#1837 <https://github.com/ros-controls/ros2_control/issues/1837>`_)
+* Contributors: Bartłomiej Krajewski, Jordan Palacios, Sai Kishor Kothakota
+
 5.1.0 (2025-05-24)
 ------------------
 * Use target_link_libraries instead of ament_target_dependencies (`#2266 <https://github.com/ros-controls/ros2_control/issues/2266>`_)
diff --git a/transmission_interface/include/transmission_interface/differential_transmission.hpp b/transmission_interface/include/transmission_interface/differential_transmission.hpp
@@ -108,6 +108,9 @@ namespace transmission_interface
  *
  * \ingroup transmission_types
  */
+
+constexpr auto HW_IF_ABSOLUTE_POSITION = "absolute_position";
+
 class DifferentialTransmission : public Transmission
 {
 public:
@@ -164,10 +167,14 @@ class DifferentialTransmission : public Transmission
   std::vector<JointHandle> joint_position_;
   std::vector<JointHandle> joint_velocity_;
   std::vector<JointHandle> joint_effort_;
+  std::vector<JointHandle> joint_torque_;
+  std::vector<JointHandle> joint_absolute_position_;
 
   std::vector<ActuatorHandle> actuator_position_;
   std::vector<ActuatorHandle> actuator_velocity_;
   std::vector<ActuatorHandle> actuator_effort_;
+  std::vector<ActuatorHandle> actuator_torque_;
+  std::vector<ActuatorHandle> actuator_absolute_position_;
 };
 
 inline DifferentialTransmission::DifferentialTransmission(
@@ -228,8 +235,13 @@ void DifferentialTransmission::configure(
   joint_velocity_ =
     get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_VELOCITY);
   joint_effort_ = get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_EFFORT);
+  joint_torque_ = get_ordered_handles(joint_handles, joint_names, hardware_interface::HW_IF_TORQUE);
+  joint_absolute_position_ =
+    get_ordered_handles(joint_handles, joint_names, HW_IF_ABSOLUTE_POSITION);
 
-  if (joint_position_.size() != 2 && joint_velocity_.size() != 2 && joint_effort_.size() != 2)
+  if (
+    joint_position_.size() != 2 && joint_velocity_.size() != 2 && joint_effort_.size() != 2 &&
+    joint_torque_.size() != 2 && joint_absolute_position_.size() != 2)
   {
     throw Exception("Not enough valid or required joint handles were presented.");
   }
@@ -240,10 +252,15 @@ void DifferentialTransmission::configure(
     get_ordered_handles(actuator_handles, actuator_names, hardware_interface::HW_IF_VELOCITY);
   actuator_effort_ =
     get_ordered_handles(actuator_handles, actuator_names, hardware_interface::HW_IF_EFFORT);
+  actuator_torque_ =
+    get_ordered_handles(actuator_handles, actuator_names, hardware_interface::HW_IF_TORQUE);
+  actuator_absolute_position_ =
+    get_ordered_handles(actuator_handles, actuator_names, HW_IF_ABSOLUTE_POSITION);
 
   if (
     actuator_position_.size() != 2 && actuator_velocity_.size() != 2 &&
-    actuator_effort_.size() != 2)
+    actuator_effort_.size() != 2 && actuator_torque_.size() != 2 &&
+    actuator_absolute_position_.size() != 2)
   {
     throw Exception(
       fmt::format(
@@ -254,7 +271,9 @@ void DifferentialTransmission::configure(
   if (
     joint_position_.size() != actuator_position_.size() &&
     joint_velocity_.size() != actuator_velocity_.size() &&
-    joint_effort_.size() != actuator_effort_.size())
+    joint_effort_.size() != actuator_effort_.size() &&
+    joint_torque_.size() != actuator_torque_.size() &&
+    joint_absolute_position_.size() != actuator_absolute_position_.size())
   {
     throw Exception(
       fmt::format(FMT_COMPILE("Pair-wise mismatch on interfaces. \n{}"), get_handles_info()));
@@ -303,6 +322,32 @@ inline void DifferentialTransmission::actuator_to_joint()
     joint_eff[1].set_value(
       jr[1] * (act_eff[0].get_value() * ar[0] - act_eff[1].get_value() * ar[1]));
   }
+
+  auto & act_tor = actuator_torque_;
+  auto & joint_tor = joint_torque_;
+  if (act_tor.size() == num_actuators() && joint_tor.size() == num_joints())
+  {
+    assert(act_tor[0] && act_tor[1] && joint_tor[0] && joint_tor[1]);
+
+    joint_tor[0].set_value(
+      jr[0] * (act_tor[0].get_value() * ar[0] + act_tor[1].get_value() * ar[1]));
+    joint_tor[1].set_value(
+      jr[1] * (act_tor[0].get_value() * ar[0] - act_tor[1].get_value() * ar[1]));
+  }
+
+  auto & act_abs_pos = actuator_absolute_position_;
+  auto & joint_abs_pos = joint_absolute_position_;
+  if (act_abs_pos.size() == num_actuators() && joint_abs_pos.size() == num_joints())
+  {
+    assert(act_abs_pos[0] && act_abs_pos[1] && joint_abs_pos[0] && joint_abs_pos[1]);
+
+    joint_abs_pos[0].set_value(
+      (act_abs_pos[0].get_value() / ar[0] + act_abs_pos[1].get_value() / ar[1]) / (2.0 * jr[0]) +
+      joint_offset_[0]);
+    joint_abs_pos[1].set_value(
+      (act_abs_pos[0].get_value() / ar[0] - act_abs_pos[1].get_value() / ar[1]) / (2.0 * jr[1]) +
+      joint_offset_[1]);
+  }
 }
 
 inline void DifferentialTransmission::joint_to_actuator()
@@ -347,6 +392,18 @@ inline void DifferentialTransmission::joint_to_actuator()
     act_eff[1].set_value(
       (joint_eff[0].get_value() / jr[0] - joint_eff[1].get_value() / jr[1]) / (2.0 * ar[1]));
   }
+
+  auto & act_tor = actuator_torque_;
+  auto & joint_tor = joint_torque_;
+  if (act_tor.size() == num_actuators() && joint_tor.size() == num_joints())
+  {
+    assert(act_tor[0] && act_tor[1] && joint_tor[0] && joint_tor[1]);
+
+    act_tor[0].set_value(
+      (joint_tor[0].get_value() / jr[0] + joint_tor[1].get_value() / jr[1]) / (2.0 * ar[0]));
+    act_tor[1].set_value(
+      (joint_tor[0].get_value() / jr[0] - joint_tor[1].get_value() / jr[1]) / (2.0 * ar[1]));
+  }
 }
 
 std::string DifferentialTransmission::get_handles_info() const
@@ -356,10 +413,15 @@ std::string DifferentialTransmission::get_handles_info() const
       "Got the following handles:\n"
       "Joint position: {}, Actuator position: {}\n"
       "Joint velocity: {}, Actuator velocity: {}\n"
-      "Joint effort: {}, Actuator effort: {}"),
+      "Joint effort: {}, Actuator effort: {}\n"
+      "Joint torque: {}, Actuator torque: {}\n"
+      "Joint absolute position: {}, Actuator absolute position: {}"),
     to_string(get_names(joint_position_)), to_string(get_names(actuator_position_)),
     to_string(get_names(joint_velocity_)), to_string(get_names(actuator_velocity_)),
-    to_string(get_names(joint_effort_)), to_string(get_names(actuator_effort_)));
+    to_string(get_names(joint_effort_)), to_string(get_names(actuator_effort_)),
+    to_string(get_names(joint_torque_)), to_string(get_names(actuator_torque_)),
+    to_string(get_names(joint_absolute_position_)),
+    to_string(get_names(actuator_absolute_position_)));
 }
 
 }  // namespace transmission_interface
diff --git a/transmission_interface/include/transmission_interface/simple_transmission.hpp b/transmission_interface/include/transmission_interface/simple_transmission.hpp
diff --git a/transmission_interface/package.xml b/transmission_interface/package.xml
diff --git a/transmission_interface/test/differential_transmission_test.cpp b/transmission_interface/test/differential_transmission_test.cpp
diff --git a/transmission_interface/test/simple_transmission_test.cpp b/transmission_interface/test/simple_transmission_test.cpp
