Merge remote-tracking branch 'upstream/master' into rqt-jtc-robot-description

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>

Author: delihus

.github/workflows/rosdoc2.yml

@@ -0,0 +1,14 @@
+name: rosdoc2
+
+on:
+  workflow_dispatch:
+  pull_request:
+    paths:
+      - ros2_controllers/doc/**
+      - ros2_controllers/rosdoc2.yaml
+      - ros2_controllers/package.xml
+
+
+jobs:
+  check:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@master

.pre-commit-config.yaml

@@ -26,6 +26,7 @@ repos:
       - id: check-symlinks
       - id: check-xml
       - id: check-yaml
+        args: ["--allow-multiple-documents"]
       - id: debug-statements
       - id: end-of-file-fixer
       - id: mixed-line-ending
@@ -62,7 +63,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.4
+    rev: v18.1.5
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -104,6 +105,7 @@ repos:
         description: Check if copyright notice is available in all files.
         entry: ament_copyright
         language: system
+        exclude: .*/conf\.py$
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
@@ -124,14 +126,14 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.3.0
     hooks:
       - id: codespell
         args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel']
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.2
+    rev: 0.28.4
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.9.0 (2024-06-05)
+------------------
+
 4.8.0 (2024-05-14)
 ------------------
 * Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)

ackermann_steering_controller/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>ackermann_steering_controller</name>
-  <version>4.8.0</version>
+  <version>4.9.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

ackermann_steering_controller/src/ackermann_steering_controller.cpp

@@ -62,28 +62,29 @@ bool AckermannSteeringController::update_odometry(const rclcpp::Duration & perio
   }
   else
   {
-    const double rear_right_wheel_value = state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
-    const double rear_left_wheel_value = state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
-    const double front_right_steer_position =
-      state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
-    const double front_left_steer_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
+    const double traction_right_wheel_value =
+      state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
+    const double traction_left_wheel_value =
+      state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
+    const double steering_right_position = state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
+    const double steering_left_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
     if (
-      !std::isnan(rear_right_wheel_value) && !std::isnan(rear_left_wheel_value) &&
-      !std::isnan(front_right_steer_position) && !std::isnan(front_left_steer_position))
+      std::isfinite(traction_right_wheel_value) && std::isfinite(traction_left_wheel_value) &&
+      std::isfinite(steering_right_position) && std::isfinite(steering_left_position))
     {
       if (params_.position_feedback)
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_position(
-          rear_right_wheel_value, rear_left_wheel_value, front_right_steer_position,
-          front_left_steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steering_right_position,
+          steering_left_position, period.seconds());
       }
       else
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_velocity(
-          rear_right_wheel_value, rear_left_wheel_value, front_right_steer_position,
-          front_left_steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steering_right_position,
+          steering_left_position, period.seconds());
       }
     }
   }

ackermann_steering_controller/test/ackermann_steering_controller_params.yaml

@@ -6,7 +6,6 @@ test_ackermann_steering_controller:
     open_loop: false
     velocity_rolling_window_size: 10
     position_feedback: false
-    use_stamped_vel: true
     rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint]
     front_wheels_names: [front_right_steering_joint, front_left_steering_joint]
 

ackermann_steering_controller/test/ackermann_steering_controller_preceeding_params.yaml

@@ -5,7 +5,6 @@ test_ackermann_steering_controller:
     open_loop: false
     velocity_rolling_window_size: 10
     position_feedback: false
-    use_stamped_vel: true
     rear_wheels_names: [pid_controller/rear_right_wheel_joint, pid_controller/rear_left_wheel_joint]
     front_wheels_names: [pid_controller/front_right_steering_joint, pid_controller/front_left_steering_joint]
     rear_wheels_state_names: [rear_right_wheel_joint, rear_left_wheel_joint]

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -280,7 +280,6 @@ class AckermannSteeringControllerFixture : public ::testing::Test
   bool open_loop_ = false;
   unsigned int velocity_rolling_window_size_ = 10;
   bool position_feedback_ = false;
-  bool use_stamped_vel_ = true;
   std::vector<std::string> rear_wheels_names_ = {"rear_right_wheel_joint", "rear_left_wheel_joint"};
   std::vector<std::string> front_wheels_names_ = {
     "front_right_steering_joint", "front_left_steering_joint"};

admittance_controller/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.9.0 (2024-06-05)
+------------------
+
 4.8.0 (2024-05-14)
 ------------------
 

admittance_controller/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>admittance_controller</name>
-  <version>4.8.0</version>
+  <version>4.9.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>