From a30f5b43d1e0699dda5d9cfd65e3e1a03f6c2647 Mon Sep 17 00:00:00 2001 From: Bence Magyar Date: Wed, 11 Jun 2025 15:44:57 +0100 Subject: [PATCH 1/2] 5.1.0 --- ackermann_steering_controller/CHANGELOG.rst | 4 ++-- ackermann_steering_controller/package.xml | 2 +- admittance_controller/CHANGELOG.rst | 4 ++-- admittance_controller/package.xml | 2 +- bicycle_steering_controller/CHANGELOG.rst | 4 ++-- bicycle_steering_controller/package.xml | 2 +- diff_drive_controller/CHANGELOG.rst | 4 ++-- diff_drive_controller/package.xml | 2 +- effort_controllers/CHANGELOG.rst | 4 ++-- effort_controllers/package.xml | 2 +- force_torque_sensor_broadcaster/CHANGELOG.rst | 4 ++-- force_torque_sensor_broadcaster/package.xml | 2 +- forward_command_controller/CHANGELOG.rst | 4 ++-- forward_command_controller/package.xml | 2 +- gpio_controllers/CHANGELOG.rst | 4 ++-- gpio_controllers/package.xml | 2 +- gps_sensor_broadcaster/CHANGELOG.rst | 4 ++-- gps_sensor_broadcaster/package.xml | 2 +- imu_sensor_broadcaster/CHANGELOG.rst | 4 ++-- imu_sensor_broadcaster/package.xml | 2 +- joint_state_broadcaster/CHANGELOG.rst | 4 ++-- joint_state_broadcaster/package.xml | 2 +- joint_trajectory_controller/CHANGELOG.rst | 4 ++-- joint_trajectory_controller/package.xml | 2 +- .../src/joint_trajectory_controller.cpp | 2 ++ .../src/trajectory.cpp | 1 + .../test/test_trajectory_controller.cpp | 24 +++++++++++++++++++ mecanum_drive_controller/CHANGELOG.rst | 4 ++-- mecanum_drive_controller/package.xml | 2 +- parallel_gripper_controller/CHANGELOG.rst | 4 ++-- parallel_gripper_controller/package.xml | 2 +- pid_controller/CHANGELOG.rst | 4 ++-- pid_controller/package.xml | 2 +- pose_broadcaster/CHANGELOG.rst | 4 ++-- pose_broadcaster/package.xml | 2 +- position_controllers/CHANGELOG.rst | 4 ++-- position_controllers/package.xml | 2 +- range_sensor_broadcaster/CHANGELOG.rst | 4 ++-- range_sensor_broadcaster/package.xml | 2 +- ros2_controllers/CHANGELOG.rst | 4 ++-- ros2_controllers/package.xml | 2 +- ros2_controllers_test_nodes/CHANGELOG.rst | 4 ++-- ros2_controllers_test_nodes/package.xml | 2 +- ros2_controllers_test_nodes/setup.py | 2 +- rqt_joint_trajectory_controller/CHANGELOG.rst | 4 ++-- rqt_joint_trajectory_controller/package.xml | 2 +- rqt_joint_trajectory_controller/setup.py | 2 +- steering_controllers_library/CHANGELOG.rst | 4 ++-- steering_controllers_library/package.xml | 2 +- tricycle_controller/CHANGELOG.rst | 4 ++-- tricycle_controller/package.xml | 2 +- tricycle_steering_controller/CHANGELOG.rst | 4 ++-- tricycle_steering_controller/package.xml | 2 +- velocity_controllers/CHANGELOG.rst | 4 ++-- velocity_controllers/package.xml | 2 +- 55 files changed, 104 insertions(+), 77 deletions(-) diff --git a/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst index 8bfaa877c6..2bc5675ecd 100644 --- a/ackermann_steering_controller/CHANGELOG.rst +++ b/ackermann_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ackermann_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Remove deprecated parameters from steering_controllers_library (`#1684 `_) * Fix steering_controllers_library docs and msg field (`#1733 `_) * Contributors: Christoph Fröhlich diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml index 2419c25af0..e08502dad9 100644 --- a/ackermann_steering_controller/package.xml +++ b/ackermann_steering_controller/package.xml @@ -2,7 +2,7 @@ ackermann_steering_controller - 5.0.2 + 5.1.0 Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it. Bence Magyar diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst index 2ee8716520..dd6f32da14 100644 --- a/admittance_controller/CHANGELOG.rst +++ b/admittance_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package admittance_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml index 4e72100135..5776b25c48 100644 --- a/admittance_controller/package.xml +++ b/admittance_controller/package.xml @@ -2,7 +2,7 @@ admittance_controller - 5.0.2 + 5.1.0 Implementation of admittance controllers for different input and output interface. Bence Magyar diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst index 808da1b116..fb90ac4f1a 100644 --- a/bicycle_steering_controller/CHANGELOG.rst +++ b/bicycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package bicycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Remove deprecated parameters from steering_controllers_library (`#1684 `_) * Fix steering_controllers_library docs and msg field (`#1733 `_) * Contributors: Christoph Fröhlich diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml index 969d8aa650..c096afd0f8 100644 --- a/bicycle_steering_controller/package.xml +++ b/bicycle_steering_controller/package.xml @@ -2,7 +2,7 @@ bicycle_steering_controller - 5.0.2 + 5.1.0 Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering. Bence Magyar diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst index 4360b41bc5..5e2379f043 100644 --- a/diff_drive_controller/CHANGELOG.rst +++ b/diff_drive_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package diff_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Fix DiffDrive claiming state when open_loop is set (`#1731 `_) * Contributors: mergify[bot] diff --git a/diff_drive_controller/package.xml b/diff_drive_controller/package.xml index b42f59ad8b..97e4b35b00 100644 --- a/diff_drive_controller/package.xml +++ b/diff_drive_controller/package.xml @@ -1,7 +1,7 @@ diff_drive_controller - 5.0.2 + 5.1.0 Controller for a differential-drive mobile base. Bence Magyar diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst index e8641a3d71..d4ac653173 100644 --- a/effort_controllers/CHANGELOG.rst +++ b/effort_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package effort_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml index ff688ef8d5..ec4aa5b5ce 100644 --- a/effort_controllers/package.xml +++ b/effort_controllers/package.xml @@ -1,7 +1,7 @@ effort_controllers - 5.0.2 + 5.1.0 Generic controller for forwarding commands. Bence Magyar diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst index a4a5eadefb..6ba95a47db 100644 --- a/force_torque_sensor_broadcaster/CHANGELOG.rst +++ b/force_torque_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package force_torque_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Revert temporary logging changes added for CI timeout investigation (`#1741 `_) * Contributors: Julia Jia diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml index 264cae367b..a4371346da 100644 --- a/force_torque_sensor_broadcaster/package.xml +++ b/force_torque_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ force_torque_sensor_broadcaster - 5.0.2 + 5.1.0 Controller to publish state of force-torque sensors. Bence Magyar diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst index 2fa7f18bec..a2bf80bd0d 100644 --- a/forward_command_controller/CHANGELOG.rst +++ b/forward_command_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package forward_command_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml index 9e4e4222a5..6e2c9f8947 100644 --- a/forward_command_controller/package.xml +++ b/forward_command_controller/package.xml @@ -1,7 +1,7 @@ forward_command_controller - 5.0.2 + 5.1.0 Generic controller for forwarding commands. Bence Magyar diff --git a/gpio_controllers/CHANGELOG.rst b/gpio_controllers/CHANGELOG.rst index 379d8dbcc0..3361b3d26e 100644 --- a/gpio_controllers/CHANGELOG.rst +++ b/gpio_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package gpio_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Add missing github_url to rst files (`#1717 `_) * Contributors: Christoph Fröhlich diff --git a/gpio_controllers/package.xml b/gpio_controllers/package.xml index 6edb2f90d9..1d92ab45fe 100644 --- a/gpio_controllers/package.xml +++ b/gpio_controllers/package.xml @@ -2,7 +2,7 @@ gpio_controllers - 5.0.2 + 5.1.0 Controllers to interact with gpios. Bence Magyar diff --git a/gps_sensor_broadcaster/CHANGELOG.rst b/gps_sensor_broadcaster/CHANGELOG.rst index e8229f263a..34265c0172 100644 --- a/gps_sensor_broadcaster/CHANGELOG.rst +++ b/gps_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package gps_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/gps_sensor_broadcaster/package.xml b/gps_sensor_broadcaster/package.xml index 118649e462..6f96999889 100644 --- a/gps_sensor_broadcaster/package.xml +++ b/gps_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ gps_sensor_broadcaster - 5.0.2 + 5.1.0 Controller to publish readings of GPS sensors. Apache License 2.0 diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst index f60d82a32f..5c23652f63 100644 --- a/imu_sensor_broadcaster/CHANGELOG.rst +++ b/imu_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package imu_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml index 0a313167a6..a70e322413 100644 --- a/imu_sensor_broadcaster/package.xml +++ b/imu_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ imu_sensor_broadcaster - 5.0.2 + 5.1.0 Controller to publish readings of IMU sensors. Bence Magyar diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst index 3117dee150..1f94d71707 100644 --- a/joint_state_broadcaster/CHANGELOG.rst +++ b/joint_state_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_state_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Added frame_id to Joint State Broadcaster (`#1746 `_) * Fix RST syntax (`#1715 `_) * Contributors: Christoph Fröhlich, Jakub "Deli" Delicat diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml index ab47b7fbb4..44b7b7e9a2 100644 --- a/joint_state_broadcaster/package.xml +++ b/joint_state_broadcaster/package.xml @@ -1,7 +1,7 @@ joint_state_broadcaster - 5.0.2 + 5.1.0 Broadcaster to publish joint state Bence Magyar diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst index 6cefcfce00..af02efea31 100644 --- a/joint_trajectory_controller/CHANGELOG.rst +++ b/joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * [JTC] [Doc] Update PID documentation for effort related command interface support (`#1748 `_) * JTC: Use std::atomic (`#1720 `_) * Reset both sec and nanosec in time_from_start (`#1709 `_) diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml index b07a414d8a..471d805786 100644 --- a/joint_trajectory_controller/package.xml +++ b/joint_trajectory_controller/package.xml @@ -1,7 +1,7 @@ joint_trajectory_controller - 5.0.2 + 5.1.0 Controller for executing joint-space trajectories on a group of joints Bence Magyar diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index 7cd16f5861..f67c88829a 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -880,6 +880,8 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure( state_publisher_->msg_.reference.velocities.resize(dof_); state_publisher_->msg_.reference.accelerations.resize(dof_); state_publisher_->msg_.feedback.positions.resize(dof_); + state_publisher_->msg_.reference.time_from_start = desired_state.time_from_start; + state_publisher_->msg_.feedback.time_from_start = desired_state.time_from_start; state_publisher_->msg_.error.positions.resize(dof_); if (has_velocity_state_interface_) { diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp index 3ced840c02..094348343f 100644 --- a/joint_trajectory_controller/src/trajectory.cpp +++ b/joint_trajectory_controller/src/trajectory.cpp @@ -185,6 +185,7 @@ bool Trajectory::sample( } } + output_state.time_from_start = next_point.time_from_start; // whole animation has played out start_segment_itr = --end(); end_segment_itr = end(); diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index ec3391a9e1..e01ef9b9a1 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -461,7 +461,31 @@ TEST_P(TrajectoryControllerTestParameterized, state_topic_consistency_command_jo EXPECT_EQ(n_joints, state->output.effort.size()); } } +/** + * @brief check if time_from_start is populated correctly + */ +TEST_F(TrajectoryControllerTest, time_from_start_populated) +{ + rclcpp::executors::SingleThreadedExecutor executor; + SetUpAndActivateTrajectoryController(executor, {}); + subscribeToState(executor); + // schedule a single waypoint at 100ms: + builtin_interfaces::msg::Duration tfs; + tfs.sec = 0; + tfs.nanosec = 100000000; + publish(tfs, {INITIAL_POS_JOINTS}, rclcpp::Time(0)); + traj_controller_->wait_for_trajectory(executor); + + updateController(); + // give the publish timer one more spin + executor.spin_some(); + + auto state = getState(); + ASSERT_TRUE(state); + EXPECT_EQ(state->feedback.time_from_start.sec, 0u); + EXPECT_EQ(state->feedback.time_from_start.nanosec, 100000000u); +} /** * @brief check if dynamic parameters are updated */ diff --git a/mecanum_drive_controller/CHANGELOG.rst b/mecanum_drive_controller/CHANGELOG.rst index 58959bde4e..14e95940fa 100644 --- a/mecanum_drive_controller/CHANGELOG.rst +++ b/mecanum_drive_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package mecanum_drive_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Add tf_frame_prefix parameters to mecanum_drive_controller (`#1680 `_) * Add missing github_url to rst files (`#1717 `_) * Contributors: Christoph Fröhlich, Dawid Kmak diff --git a/mecanum_drive_controller/package.xml b/mecanum_drive_controller/package.xml index e6a21fc613..d0ca812bf1 100644 --- a/mecanum_drive_controller/package.xml +++ b/mecanum_drive_controller/package.xml @@ -2,7 +2,7 @@ mecanum_drive_controller - 5.0.2 + 5.1.0 Implementation of mecanum drive controller for 4 wheel drive. diff --git a/parallel_gripper_controller/CHANGELOG.rst b/parallel_gripper_controller/CHANGELOG.rst index e3f65cc591..aeb28a2461 100644 --- a/parallel_gripper_controller/CHANGELOG.rst +++ b/parallel_gripper_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package parallel_gripper_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/parallel_gripper_controller/package.xml b/parallel_gripper_controller/package.xml index 3651857e9a..7dcc3b84bf 100644 --- a/parallel_gripper_controller/package.xml +++ b/parallel_gripper_controller/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> parallel_gripper_controller - 5.0.2 + 5.1.0 The parallel_gripper_controller package Bence Magyar diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst index 5a9eae990d..cdb86bb68b 100644 --- a/pid_controller/CHANGELOG.rst +++ b/pid_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package pid_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Remove deprecated feedforward parameter+service (`#1753 `_) Co-authored-by: pascalau * Set enable_feedforward parameter in the respective tests (`#1743 `_) diff --git a/pid_controller/package.xml b/pid_controller/package.xml index 4920dfdeee..b25203617d 100644 --- a/pid_controller/package.xml +++ b/pid_controller/package.xml @@ -2,7 +2,7 @@ pid_controller - 5.0.2 + 5.1.0 Controller based on PID implememenation from control_toolbox package. Bence Magyar diff --git a/pose_broadcaster/CHANGELOG.rst b/pose_broadcaster/CHANGELOG.rst index 3ae1615efe..214d4f034d 100644 --- a/pose_broadcaster/CHANGELOG.rst +++ b/pose_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package pose_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Remove deprecated parameter from pose_broadcaster (`#1685 `_) * Contributors: Christoph Fröhlich diff --git a/pose_broadcaster/package.xml b/pose_broadcaster/package.xml index 8edbf31155..5a855ee082 100644 --- a/pose_broadcaster/package.xml +++ b/pose_broadcaster/package.xml @@ -2,7 +2,7 @@ pose_broadcaster - 5.0.2 + 5.1.0 Broadcaster to publish cartesian states. Bence Magyar diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst index 939b5c583c..f59a529c5e 100644 --- a/position_controllers/CHANGELOG.rst +++ b/position_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package position_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/position_controllers/package.xml b/position_controllers/package.xml index b9fb51375d..4fce37e76b 100644 --- a/position_controllers/package.xml +++ b/position_controllers/package.xml @@ -1,7 +1,7 @@ position_controllers - 5.0.2 + 5.1.0 Generic position controller for forwarding position commands. Bence Magyar diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst index 4c5daa6ddd..cf68129aaf 100644 --- a/range_sensor_broadcaster/CHANGELOG.rst +++ b/range_sensor_broadcaster/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package range_sensor_broadcaster ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml index 9679be5e1a..63ac836af6 100644 --- a/range_sensor_broadcaster/package.xml +++ b/range_sensor_broadcaster/package.xml @@ -2,7 +2,7 @@ range_sensor_broadcaster - 5.0.2 + 5.1.0 Controller to publish readings of range sensors. Bence Magyar diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst index ee2d7b6fce..7e7e9637fb 100644 --- a/ros2_controllers/CHANGELOG.rst +++ b/ros2_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml index c6a13da09b..3c27b6ac46 100644 --- a/ros2_controllers/package.xml +++ b/ros2_controllers/package.xml @@ -1,7 +1,7 @@ ros2_controllers - 5.0.2 + 5.1.0 Metapackage for ros2_controllers related packages Bence Magyar diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst index 9a9ebfda83..55172b93bb 100644 --- a/ros2_controllers_test_nodes/CHANGELOG.rst +++ b/ros2_controllers_test_nodes/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros2_controllers_test_nodes ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml index e148ceb572..4beddb9bfd 100644 --- a/ros2_controllers_test_nodes/package.xml +++ b/ros2_controllers_test_nodes/package.xml @@ -2,7 +2,7 @@ ros2_controllers_test_nodes - 5.0.2 + 5.1.0 Demo nodes for showing and testing functionalities of the ros2_control framework. Bence Magyar diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py index 0d06789760..054b413486 100644 --- a/ros2_controllers_test_nodes/setup.py +++ b/ros2_controllers_test_nodes/setup.py @@ -20,7 +20,7 @@ setup( name=package_name, - version="5.0.2", + version="5.1.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst index b31e17957b..5dd813eb50 100644 --- a/rqt_joint_trajectory_controller/CHANGELOG.rst +++ b/rqt_joint_trajectory_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rqt_joint_trajectory_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml index b2865c5ace..db5e54e079 100644 --- a/rqt_joint_trajectory_controller/package.xml +++ b/rqt_joint_trajectory_controller/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> rqt_joint_trajectory_controller - 5.0.2 + 5.1.0 Graphical frontend for interacting with joint_trajectory_controller instances. Bence Magyar diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py index 2fc250eacc..dedc5d1b21 100644 --- a/rqt_joint_trajectory_controller/setup.py +++ b/rqt_joint_trajectory_controller/setup.py @@ -21,7 +21,7 @@ setup( name=package_name, - version="5.0.2", + version="5.1.0", packages=[package_name], data_files=[ ("share/ament_index/resource_index/packages", ["resource/" + package_name]), diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst index c68111b310..49b61a5bab 100644 --- a/steering_controllers_library/CHANGELOG.rst +++ b/steering_controllers_library/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package steering_controllers_library ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Remove deprecated parameters from steering_controllers_library (`#1684 `_) * Fix steering_controllers_library docs and msg field (`#1733 `_) * Contributors: Christoph Fröhlich diff --git a/steering_controllers_library/package.xml b/steering_controllers_library/package.xml index 7981c31e55..5f6d18960e 100644 --- a/steering_controllers_library/package.xml +++ b/steering_controllers_library/package.xml @@ -2,7 +2,7 @@ steering_controllers_library - 5.0.2 + 5.1.0 Package for steering robot configurations including odometry and interfaces. Bence Magyar diff --git a/tricycle_controller/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst index b5f64209ae..23f89a7971 100644 --- a/tricycle_controller/CHANGELOG.rst +++ b/tricycle_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/tricycle_controller/package.xml b/tricycle_controller/package.xml index f23a449a2f..04afca23d8 100644 --- a/tricycle_controller/package.xml +++ b/tricycle_controller/package.xml @@ -2,7 +2,7 @@ tricycle_controller - 5.0.2 + 5.1.0 Controller for a tricycle drive mobile base Bence Magyar diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst index 3e9ba97eb0..7c4ad04444 100644 --- a/tricycle_steering_controller/CHANGELOG.rst +++ b/tricycle_steering_controller/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tricycle_steering_controller ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ * Remove deprecated parameters from steering_controllers_library (`#1684 `_) * Fix steering_controllers_library docs and msg field (`#1733 `_) * Contributors: Christoph Fröhlich diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml index b6caa2ca07..c8170f72b5 100644 --- a/tricycle_steering_controller/package.xml +++ b/tricycle_steering_controller/package.xml @@ -2,7 +2,7 @@ tricycle_steering_controller - 5.0.2 + 5.1.0 Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering. Bence Magyar diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst index 42686db8f7..b1b42db9cd 100644 --- a/velocity_controllers/CHANGELOG.rst +++ b/velocity_controllers/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package velocity_controllers ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +5.1.0 (2025-06-11) +------------------ 5.0.2 (2025-05-26) ------------------ diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml index 5bf0d65e30..f696e07cfd 100644 --- a/velocity_controllers/package.xml +++ b/velocity_controllers/package.xml @@ -1,7 +1,7 @@ velocity_controllers - 5.0.2 + 5.1.0 Generic controller for forwarding commands. Bence Magyar From 5eef6f0147cb04a855afbb5026b21e92678f9ca4 Mon Sep 17 00:00:00 2001 From: Michael Wrock Date: Thu, 12 Jun 2025 13:09:01 -0700 Subject: [PATCH 2/2] Removed unnecessary initiailization --- joint_trajectory_controller/src/joint_trajectory_controller.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index f67c88829a..7cd16f5861 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -880,8 +880,6 @@ controller_interface::CallbackReturn JointTrajectoryController::on_configure( state_publisher_->msg_.reference.velocities.resize(dof_); state_publisher_->msg_.reference.accelerations.resize(dof_); state_publisher_->msg_.feedback.positions.resize(dof_); - state_publisher_->msg_.reference.time_from_start = desired_state.time_from_start; - state_publisher_->msg_.feedback.time_from_start = desired_state.time_from_start; state_publisher_->msg_.error.positions.resize(dof_); if (has_velocity_state_interface_) {