diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index add4adb..e8d8a91 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -17,7 +17,7 @@ repos: types_or: [c++, c] - repo: https://github.com/BlankSpruce/gersemi - rev: 0.13.5 + rev: 0.21.0 hooks: - id: gersemi diff --git a/auv_control_demos/CHANGELOG.md b/auv_control_demos/CHANGELOG.md index 56a16eb..462fe6a 100644 --- a/auv_control_demos/CHANGELOG.md +++ b/auv_control_demos/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package auv_control_demos +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/auv_control_demos/package.xml b/auv_control_demos/package.xml index eec47da..37a8f0b 100644 --- a/auv_control_demos/package.xml +++ b/auv_control_demos/package.xml @@ -3,7 +3,7 @@ auv_control_demos - 0.3.0 + 0.3.1 Example package that includes demos for using auv_controllers in individual and chained modes Colin Mitchell diff --git a/auv_control_msgs/CHANGELOG.md b/auv_control_msgs/CHANGELOG.md index fb72d13..82b0c13 100644 --- a/auv_control_msgs/CHANGELOG.md +++ b/auv_control_msgs/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package auv_control_msgs +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/auv_control_msgs/package.xml b/auv_control_msgs/package.xml index effa430..08ec095 100644 --- a/auv_control_msgs/package.xml +++ b/auv_control_msgs/package.xml @@ -3,7 +3,7 @@ auv_control_msgs - 0.3.0 + 0.3.1 Custom messages for AUV controllers Rakesh Vivekanandan diff --git a/auv_controllers/CHANGELOG.md b/auv_controllers/CHANGELOG.md index 3d19326..dc2bde4 100644 --- a/auv_controllers/CHANGELOG.md +++ b/auv_controllers/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package auv_controllers +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) - Implements the controller coordinator diff --git a/auv_controllers/package.xml b/auv_controllers/package.xml index 7021da3..35e271f 100644 --- a/auv_controllers/package.xml +++ b/auv_controllers/package.xml @@ -3,7 +3,7 @@ auv_controllers - 0.3.0 + 0.3.1 Meta package for auv_controllers Evan Palmer diff --git a/controller_common/CHANGELOG.md b/controller_common/CHANGELOG.md index 1811344..39e78d6 100644 --- a/controller_common/CHANGELOG.md +++ b/controller_common/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package controller_common +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/controller_common/CMakeLists.txt b/controller_common/CMakeLists.txt index 5b97537..78abd3d 100644 --- a/controller_common/CMakeLists.txt +++ b/controller_common/CMakeLists.txt @@ -18,8 +18,9 @@ target_sources( PRIVATE src/common.cpp PUBLIC FILE_SET HEADERS - BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include - FILES ${CMAKE_CURRENT_SOURCE_DIR}/include/controller_common/common.hpp + BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include + FILES + ${CMAKE_CURRENT_SOURCE_DIR}/include/controller_common/common.hpp ) target_compile_features(controller_common PUBLIC cxx_std_23) target_link_libraries( diff --git a/controller_common/package.xml b/controller_common/package.xml index 7dfc607..8ec6a16 100644 --- a/controller_common/package.xml +++ b/controller_common/package.xml @@ -3,7 +3,7 @@ controller_common - 0.3.0 + 0.3.1 Common interfaces for controllers used in this project Evan Palmer diff --git a/controller_coordinator/CHANGELOG.md b/controller_coordinator/CHANGELOG.md index 93baee0..1ded739 100644 --- a/controller_coordinator/CHANGELOG.md +++ b/controller_coordinator/CHANGELOG.md @@ -1,5 +1,9 @@ # Changelog for package controller_coordinator +## 0.3.1 (2025-07-09) + +- Addresses a lifetime bug in the coordinator service responses. + ## 0.3.0 (2025-06-07) - Implements a simple service endpoint for activating and deactivating a diff --git a/controller_coordinator/CMakeLists.txt b/controller_coordinator/CMakeLists.txt index 5c4b862..4a92e15 100644 --- a/controller_coordinator/CMakeLists.txt +++ b/controller_coordinator/CMakeLists.txt @@ -29,11 +29,8 @@ target_link_libraries( ) install( - TARGETS - controller_coordinator - controller_coordinator_parameters - DESTINATION - lib/controller_coordinator + TARGETS controller_coordinator controller_coordinator_parameters + DESTINATION lib/controller_coordinator ) ament_package() diff --git a/controller_coordinator/package.xml b/controller_coordinator/package.xml index 8dc4261..1417390 100644 --- a/controller_coordinator/package.xml +++ b/controller_coordinator/package.xml @@ -3,7 +3,7 @@ controller_coordinator - 0.3.0 + 0.3.1 A high-level node used to load and activate/deactivate control systems Evan Palmer diff --git a/controller_coordinator/src/coordinator.cpp b/controller_coordinator/src/coordinator.cpp index 87bfe27..4ae6662 100644 --- a/controller_coordinator/src/coordinator.cpp +++ b/controller_coordinator/src/coordinator.cpp @@ -82,9 +82,9 @@ ControllerCoordinator::ControllerCoordinator() activate_system_service_ = this->create_service( "~/activate", [this]( - const std::shared_ptr /*request_header*/, - const std::shared_ptr request, - const std::shared_ptr response) { + const std::shared_ptr /*request_header*/, // NOLINT + const std::shared_ptr request, // NOLINT + const std::shared_ptr response) { // NOLINT response->success = true; if (request->data) { RCLCPP_INFO(this->get_logger(), "Activating thruster hardware interface and controllers"); // NOLINT @@ -92,8 +92,8 @@ ControllerCoordinator::ControllerCoordinator() // activate the hardware interface hardware_client_->async_send_request( activate_hardware_request_, - [this, &response]( - rclcpp::Client::SharedFuture result_response) { + [this, response](rclcpp::Client::SharedFuture + result_response) { // NOLINT const auto & result = result_response.get(); if (result->ok) { RCLCPP_INFO(this->get_logger(), "Successfully activated thruster hardware interface"); // NOLINT @@ -108,7 +108,8 @@ ControllerCoordinator::ControllerCoordinator() switch_controller_client_->async_send_request( activate_controllers_request_, [this, - &response](rclcpp::Client::SharedFuture result_response) { + response]( + rclcpp::Client::SharedFuture result_response) { // NOLINT const auto & result = result_response.get(); if (result->ok) { RCLCPP_INFO(this->get_logger(), "Successfully activated controllers"); // NOLINT @@ -124,8 +125,8 @@ ControllerCoordinator::ControllerCoordinator() // deactivate the hardware interface hardware_client_->async_send_request( deactivate_hardware_request_, - [this, &response]( - rclcpp::Client::SharedFuture result_response) { + [this, response](rclcpp::Client::SharedFuture + result_response) { // NOLINT const auto & result = result_response.get(); if (result->ok) { RCLCPP_INFO(this->get_logger(), "Successfully deactivated thruster hardware interface"); // NOLINT @@ -140,7 +141,8 @@ ControllerCoordinator::ControllerCoordinator() switch_controller_client_->async_send_request( deactivate_controllers_request_, [this, - &response](rclcpp::Client::SharedFuture result_response) { + response]( + rclcpp::Client::SharedFuture result_response) { // NOLINT const auto & result = result_response.get(); if (result->ok) { RCLCPP_INFO(this->get_logger(), "Successfully deactivated controllers"); // NOLINT diff --git a/end_effector_trajectory_controller/CHANGELOG.md b/end_effector_trajectory_controller/CHANGELOG.md index f17bccc..16286f2 100644 --- a/end_effector_trajectory_controller/CHANGELOG.md +++ b/end_effector_trajectory_controller/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package controller_common +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/end_effector_trajectory_controller/CMakeLists.txt b/end_effector_trajectory_controller/CMakeLists.txt index ae73f59..cefc572 100644 --- a/end_effector_trajectory_controller/CMakeLists.txt +++ b/end_effector_trajectory_controller/CMakeLists.txt @@ -36,10 +36,10 @@ target_sources( PRIVATE src/end_effector_trajectory_controller.cpp src/trajectory.cpp PUBLIC FILE_SET HEADERS - BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include - FILES - ${CMAKE_CURRENT_SOURCE_DIR}/include/end_effector_trajectory_controller/end_effector_trajectory_controller.hpp - ${CMAKE_CURRENT_SOURCE_DIR}/include/end_effector_trajectory_controller/trajectory.hpp + BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include + FILES + ${CMAKE_CURRENT_SOURCE_DIR}/include/end_effector_trajectory_controller/end_effector_trajectory_controller.hpp + ${CMAKE_CURRENT_SOURCE_DIR}/include/end_effector_trajectory_controller/trajectory.hpp ) target_compile_features(end_effector_trajectory_controller PUBLIC cxx_std_23) target_link_libraries( diff --git a/end_effector_trajectory_controller/package.xml b/end_effector_trajectory_controller/package.xml index 3d28221..1d3faf7 100644 --- a/end_effector_trajectory_controller/package.xml +++ b/end_effector_trajectory_controller/package.xml @@ -3,7 +3,7 @@ end_effector_trajectory_controller - 0.3.0 + 0.3.1 End effector trajectory tracking controller for UVMS control Evan Palmer diff --git a/ik_solvers/CHANGELOG.md b/ik_solvers/CHANGELOG.md index f5c4b1b..f34ec21 100644 --- a/ik_solvers/CHANGELOG.md +++ b/ik_solvers/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package ik_solvers +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/ik_solvers/CMakeLists.txt b/ik_solvers/CMakeLists.txt index b7df1b6..b6c6d25 100644 --- a/ik_solvers/CMakeLists.txt +++ b/ik_solvers/CMakeLists.txt @@ -30,8 +30,8 @@ target_sources( PRIVATE src/solver.cpp PUBLIC FILE_SET HEADERS - BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include - FILES ${CMAKE_CURRENT_SOURCE_DIR}/include/ik_solvers/solver.hpp + BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include + FILES ${CMAKE_CURRENT_SOURCE_DIR}/include/ik_solvers/solver.hpp ) target_link_libraries( solver_base @@ -52,9 +52,9 @@ target_sources( PRIVATE src/task_priority_solver.cpp src/pseudoinverse.cpp PUBLIC FILE_SET HEADERS - BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include - FILES - ${CMAKE_CURRENT_SOURCE_DIR}/include/ik_solvers/task_priority_solver.hpp + BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include + FILES + ${CMAKE_CURRENT_SOURCE_DIR}/include/ik_solvers/task_priority_solver.hpp ) target_compile_features(ik_solvers PUBLIC cxx_std_23) target_link_libraries( diff --git a/ik_solvers/package.xml b/ik_solvers/package.xml index 20d6824..7bc05de 100644 --- a/ik_solvers/package.xml +++ b/ik_solvers/package.xml @@ -3,7 +3,7 @@ ik_solvers - 0.3.0 + 0.3.1 Inverse kinematics solvers used for whole-body control Evan Palmer diff --git a/thruster_allocation_matrix_controller/CHANGELOG.md b/thruster_allocation_matrix_controller/CHANGELOG.md index a12c4c6..bad6526 100644 --- a/thruster_allocation_matrix_controller/CHANGELOG.md +++ b/thruster_allocation_matrix_controller/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package thruster_allocation_matrix_controller +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/thruster_allocation_matrix_controller/CMakeLists.txt b/thruster_allocation_matrix_controller/CMakeLists.txt index ef62f1e..a7d27b9 100644 --- a/thruster_allocation_matrix_controller/CMakeLists.txt +++ b/thruster_allocation_matrix_controller/CMakeLists.txt @@ -33,9 +33,9 @@ target_sources( PRIVATE src/thruster_allocation_matrix_controller.cpp PUBLIC FILE_SET HEADERS - BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include - FILES - ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp + BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include + FILES + ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp ) target_compile_features(thruster_allocation_matrix_controller PUBLIC cxx_std_23) target_link_libraries( diff --git a/thruster_allocation_matrix_controller/package.xml b/thruster_allocation_matrix_controller/package.xml index eacf7e8..e0b2525 100644 --- a/thruster_allocation_matrix_controller/package.xml +++ b/thruster_allocation_matrix_controller/package.xml @@ -3,7 +3,7 @@ thruster_allocation_matrix_controller - 0.3.0 + 0.3.1 Thruster allocation matrix controller used to convert wrench commands into thrust commands Evan Palmer diff --git a/thruster_controllers/CHANGELOG.md b/thruster_controllers/CHANGELOG.md index eac65f5..afaf585 100644 --- a/thruster_controllers/CHANGELOG.md +++ b/thruster_controllers/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package thruster_controllers +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/thruster_controllers/CMakeLists.txt b/thruster_controllers/CMakeLists.txt index 652964d..1ec0a5f 100644 --- a/thruster_controllers/CMakeLists.txt +++ b/thruster_controllers/CMakeLists.txt @@ -37,11 +37,11 @@ target_sources( src/gz_passthrough_controller.cpp PUBLIC FILE_SET HEADERS - BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include - FILES - ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_controllers/polynomial_thrust_curve_controller.hpp - ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_controllers/rotation_rate_controller.hpp - ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_controllers/gz_passthrough_controller.hpp + BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include + FILES + ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_controllers/polynomial_thrust_curve_controller.hpp + ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_controllers/rotation_rate_controller.hpp + ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_controllers/gz_passthrough_controller.hpp ) target_compile_features(thruster_controllers PUBLIC cxx_std_23) target_link_libraries( diff --git a/thruster_controllers/package.xml b/thruster_controllers/package.xml index edfa124..37ea7e6 100644 --- a/thruster_controllers/package.xml +++ b/thruster_controllers/package.xml @@ -3,7 +3,7 @@ thruster_controllers - 0.3.0 + 0.3.1 A collection of thruster controllers for AUV control Evan Palmer diff --git a/topic_sensors/CHANGELOG.md b/topic_sensors/CHANGELOG.md index 918e00c..d6855d4 100644 --- a/topic_sensors/CHANGELOG.md +++ b/topic_sensors/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package topic_sensors +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/topic_sensors/CMakeLists.txt b/topic_sensors/CMakeLists.txt index 1e14a60..5027d18 100644 --- a/topic_sensors/CMakeLists.txt +++ b/topic_sensors/CMakeLists.txt @@ -23,8 +23,9 @@ target_sources( PRIVATE src/odom_sensor.cpp PUBLIC FILE_SET HEADERS - BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include - FILES ${CMAKE_CURRENT_SOURCE_DIR}/include/topic_sensors/odom_sensor.hpp + BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include + FILES + ${CMAKE_CURRENT_SOURCE_DIR}/include/topic_sensors/odom_sensor.hpp ) target_compile_features(topic_sensors PUBLIC cxx_std_23) target_link_libraries( diff --git a/topic_sensors/package.xml b/topic_sensors/package.xml index 707cdb1..a172c74 100644 --- a/topic_sensors/package.xml +++ b/topic_sensors/package.xml @@ -3,7 +3,7 @@ topic_sensors - 0.3.0 + 0.3.1 Sensor plugins used to write ROS 2 messages to state interfaces Evan Palmer diff --git a/velocity_controllers/CHANGELOG.md b/velocity_controllers/CHANGELOG.md index 5d0da7b..68f96e8 100644 --- a/velocity_controllers/CHANGELOG.md +++ b/velocity_controllers/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package velocity_controllers +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/velocity_controllers/CMakeLists.txt b/velocity_controllers/CMakeLists.txt index 09db455..c5ca7dd 100644 --- a/velocity_controllers/CMakeLists.txt +++ b/velocity_controllers/CMakeLists.txt @@ -42,10 +42,10 @@ target_sources( src/adaptive_integral_terminal_sliding_mode_controller.cpp PUBLIC FILE_SET HEADERS - BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include - FILES - ${CMAKE_CURRENT_SOURCE_DIR}/include/velocity_controllers/integral_sliding_mode_controller.hpp - ${CMAKE_CURRENT_SOURCE_DIR}/include/velocity_controllers/adaptive_integral_terminal_sliding_mode_controller.hpp + BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include + FILES + ${CMAKE_CURRENT_SOURCE_DIR}/include/velocity_controllers/integral_sliding_mode_controller.hpp + ${CMAKE_CURRENT_SOURCE_DIR}/include/velocity_controllers/adaptive_integral_terminal_sliding_mode_controller.hpp ) target_compile_features(velocity_controllers PUBLIC cxx_std_23) target_link_libraries( diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index f4f4947..8d6ddfb 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -3,7 +3,7 @@ velocity_controllers - 0.3.0 + 0.3.1 A collection of velocity controllers for underwater vehicles Evan Palmer diff --git a/whole_body_controllers/CHANGELOG.md b/whole_body_controllers/CHANGELOG.md index 8f3fbf6..3144a17 100644 --- a/whole_body_controllers/CHANGELOG.md +++ b/whole_body_controllers/CHANGELOG.md @@ -1,5 +1,7 @@ # Changelog for package whole_body_controllers +## 0.3.1 (2025-07-09) + ## 0.3.0 (2025-06-07) ## 0.2.1 (2025-06-03) diff --git a/whole_body_controllers/CMakeLists.txt b/whole_body_controllers/CMakeLists.txt index 58f9e29..496c482 100644 --- a/whole_body_controllers/CMakeLists.txt +++ b/whole_body_controllers/CMakeLists.txt @@ -37,9 +37,9 @@ target_sources( PRIVATE src/ik_controller.cpp PUBLIC FILE_SET HEADERS - BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include - FILES - ${CMAKE_CURRENT_SOURCE_DIR}/include/whole_body_controllers/ik_controller.hpp + BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include + FILES + ${CMAKE_CURRENT_SOURCE_DIR}/include/whole_body_controllers/ik_controller.hpp ) target_compile_features(whole_body_controllers PUBLIC cxx_std_23) target_link_libraries( diff --git a/whole_body_controllers/package.xml b/whole_body_controllers/package.xml index d5c5866..536f69b 100644 --- a/whole_body_controllers/package.xml +++ b/whole_body_controllers/package.xml @@ -3,7 +3,7 @@ whole_body_controllers - 0.3.0 + 0.3.1 Whole-body controllers for underwater vehicle manipulator systems Evan Palmer