Add first version of the GPL configuration

Author: saikishor

controller_manager/CMakeLists.txt

@@ -17,6 +17,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   realtime_tools
   std_msgs
   libstatistics_collector
+  generate_parameter_library
 )
 
 find_package(ament_cmake REQUIRED)
@@ -28,6 +29,10 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
+generate_parameter_library(controller_manager_parameters
+  src/controller_manager_parameters.yaml
+)
+
 add_library(controller_manager SHARED
   src/controller_manager.cpp
 )
@@ -36,6 +41,9 @@ target_include_directories(controller_manager PUBLIC
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/controller_manager>
 )
+target_link_libraries(controller_manager PUBLIC
+  controller_manager_parameters
+)
 ament_target_dependencies(controller_manager PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 # Causes the visibility macros to use dllexport rather than dllimport,
@@ -234,7 +242,7 @@ install(
   DESTINATION include/controller_manager
 )
 install(
-  TARGETS controller_manager
+  TARGETS controller_manager controller_manager_parameters
   EXPORT export_controller_manager
   RUNTIME DESTINATION bin
   LIBRARY DESTINATION lib

controller_manager/include/controller_manager/controller_manager.hpp

@@ -48,6 +48,8 @@
 #include "rclcpp/node.hpp"
 #include "std_msgs/msg/string.hpp"
 
+#include "controller_manager_parameters.hpp"
+
 namespace controller_manager
 {
 using ControllersListIterator = std::vector<controller_manager::ControllerSpec>::const_iterator;
@@ -473,6 +475,7 @@ class ControllerManager : public rclcpp::Node
    */
   rclcpp::NodeOptions determine_controller_node_options(const ControllerSpec & controller) const;
 
+  std::shared_ptr<controller_manager::ParamListener> cm_param_listener_;
   diagnostic_updater::Updater diagnostics_updater_;
 
   std::shared_ptr<rclcpp::Executor> executor_;

controller_manager/package.xml

@@ -29,6 +29,7 @@
   <depend>ros2run</depend>
   <depend>std_msgs</depend>
   <depend>libstatistics_collector</depend>
+  <depend>generate_parameter_library</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>

controller_manager/src/controller_manager_parameters.yaml

@@ -0,0 +1,81 @@
+controller_manager:
+  update_rate: {
+    type: int,
+    default_value: 100,
+    read_only: true,
+    description: "The frequency of controller manager's real-time update loop. This loop reads states from hardware, updates controller and writes commands to hardware."
+  }
+
+  diagnostics:
+    threshold:
+      controller_manager:
+        periodicity:
+          mean_error:
+            warn: {
+              type: double,
+              default_value: 5.0,
+              description: "The warning threshold for the mean error of the controller manager's periodicity. If the mean error exceeds this threshold, a warning diagnostic will be published."
+            }
+            error: {
+              type: double,
+              default_value: 10.0,
+              description: "The error threshold for the mean error of the controller manager's periodicity. If the mean error exceeds this threshold, an error diagnostic will be published."
+            }
+          standard_deviation:
+            warn: {
+              type: double,
+              default_value: 5.0,
+              description: "The warning threshold for the standard deviation of the controller manager's periodicity. If the standard deviation exceeds this threshold, a warning diagnostic will be published."
+            }
+            error: {
+              type: double,
+              default_value: 10.0,
+              description: "The error threshold for the standard deviation of the controller manager's periodicity. If the standard deviation exceeds this threshold, an error diagnostic will be published."
+            }
+      controllers:
+        periodicity:
+          mean_error:
+            warn: {
+              type: double,
+              default_value: 5.0,
+              description: "The warning threshold for the mean error of the controller update loop. If the mean error exceeds this threshold, a warning diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity."
+            }
+            error: {
+              type: double,
+              default_value: 10.0,
+              description: "The error threshold for the mean error of the controller update loop. If the mean error exceeds this threshold, an error diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity."
+            }
+          standard_deviation:
+            warn: {
+              type: double,
+              default_value: 5.0,
+              description: "The warning threshold for the standard deviation of the controller update loop. If the standard deviation exceeds this threshold, a warning diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity."
+            }
+            error: {
+              type: double,
+              default_value: 10.0,
+              description: "The error threshold for the standard deviation of the controller update loop. If the standard deviation exceeds this threshold, an error diagnostic will be published. This diagnostics will be published only for the asynchronous controllers, because any affect to the synchronous controllers will be reflected directly in the controller manager's periodicity."
+            }
+        execution_time:
+          mean_error:
+            warn: {
+              type: double,
+              default_value: 1000.0,
+              description: "The warning threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, a warning diagnostic will be published. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute it's update cycle"
+            }
+            error: {
+              type: double,
+              default_value: 2000.0,
+              description: "The error threshold for the mean error of the controller's update cycle execution time in microseconds. If the mean error exceeds this threshold, an error diagnostic will be published. The ``mean_error`` for a synchronous controller will be computed against zero, as it should be as low as possible. However, the ``mean_error`` for an asynchronous controller will be computed against the controller's desired update period, as the controller can take a maximum of the desired period cycle to execute it's update cycle"
+            }
+          standard_deviation:
+            warn: {
+              type: double,
+              default_value: 100.0,
+              description: "The warning threshold for the standard deviation of the controller's update cycle execution time. If the standard deviation exceeds this threshold, a warning diagnostic will be published."
+            }
+            error: {
+              type: double,
+              default_value: 200.0,
+              description: "The error threshold for the standard deviation of the controller's update cycle execution time. If the standard deviation exceeds this threshold, an error diagnostic will be published."
+            }