Merge branch 'master' into 133_pr_rebase_again

christophfroehlich · web-flow · commit 54b02dbf7e98 · 2024-03-03T19:24:38.000+01:00
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -2,6 +2,22 @@ name: ROS Lint
 on:
   pull_request:
 
+env:
+  package-name:
+    ros2_control_demo_example_1
+    ros2_control_demo_example_2
+    ros2_control_demo_example_3
+    ros2_control_demo_example_4
+    ros2_control_demo_example_5
+    ros2_control_demo_example_6
+    ros2_control_demo_example_7
+    ros2_control_demo_example_8
+    ros2_control_demo_example_9
+    ros2_control_demo_example_10
+    ros2_control_demo_example_11
+    ros2_control_demo_example_12
+    ros2_control_demo_example_14
+
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
@@ -19,21 +35,7 @@ jobs:
       with:
         distribution: rolling
         linter: ${{ matrix.linter }}
-        package-name:
-          ros2_control_demo_example_1
-          ros2_control_demo_example_2
-          ros2_control_demo_example_3
-          ros2_control_demo_example_4
-          ros2_control_demo_example_5
-          ros2_control_demo_example_6
-          ros2_control_demo_example_7
-          ros2_control_demo_example_8
-          ros2_control_demo_example_9
-          ros2_control_demo_example_10
-          ros2_control_demo_example_11
-          ros2_control_demo_example_12
-          ros2_control_demo_example_13
-          ros2_control_demo_example_14
+        package-name: ${{ env.package-name }}
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
@@ -50,17 +52,4 @@ jobs:
         distribution: rolling
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          ros2_control_demo_example_1
-          ros2_control_demo_example_2
-          ros2_control_demo_example_3
-          ros2_control_demo_example_4
-          ros2_control_demo_example_5
-          ros2_control_demo_example_6
-          ros2_control_demo_example_7
-          ros2_control_demo_example_8
-          ros2_control_demo_example_9
-          ros2_control_demo_example_10
-          ros2_control_demo_example_12
-          ros2_control_demo_example_13
-          ros2_control_demo_example_14
+        package-name: ${{ env.package-name }}
diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py
@@ -67,7 +67,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_10/bringup/launch/rrbot.launch.py b/example_10/bringup/launch/rrbot.launch.py
@@ -50,7 +50,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
@@ -78,7 +78,6 @@ def generate_launch_description():
         parameters=[robot_controllers],
         output="both",
         remappings=[
-            ("~/robot_description", "/robot_description"),
             ("/bicycle_steering_controller/tf_odometry", "/tf"),
         ],
         condition=IfCondition(remap_odometry_tf),
@@ -88,19 +87,14 @@ def generate_launch_description():
         executable="ros2_control_node",
         parameters=[robot_controllers],
         output="both",
-        remappings=[
-            ("~/robot_description", "/robot_description"),
-        ],
+        remappings=[],
         condition=UnlessCondition(remap_odometry_tf),
     )
     robot_state_pub_bicycle_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         output="both",
         parameters=[robot_description],
-        remappings=[
-            ("~/robot_description", "/robot_description"),
-        ],
     )
     rviz_node = Node(
         package="rviz2",
diff --git a/example_11/doc/userdoc.rst b/example_11/doc/userdoc.rst
@@ -121,10 +121,10 @@ Files used for this demos
 * Controllers yaml: `carlikebot_controllers.yaml <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/bringup/config/carlikebot_controllers.yaml>`__
 * URDF file: `carlikebot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/urdf/carlikebot.urdf.xacro>`__
 
-  * Description: `carlikebot_description.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/urdf/carlikebot_description.urdf.xacro>`__
+  * Description: `carlikebot.urdf.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/urdf/carlikebot.urdf.xacro>`__
   * ``ros2_control`` tag: `carlikebot.ros2_control.xacro <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/ros2_control/carlikebot.ros2_control.xacro>`__
 
-* RViz configuration: `carlikebot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/description/rviz/carlikebot.rviz>`__
+* RViz configuration: `carlikebot.rviz <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/ros2_control_demo_description/carlikebot/rviz/carlikebot.rviz>`__
 
 * Hardware interface plugin: `carlikebot_system.cpp <https://github.com/ros-controls/ros2_control_demos/tree/{REPOS_FILE_BRANCH}/example_11/hardware/carlikebot_system.cpp>`__
 
diff --git a/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp b/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
@@ -45,7 +45,7 @@ struct JointValue
 
 struct Joint
 {
-  Joint(const std::string & name) : joint_name(name)
+  explicit Joint(const std::string & name) : joint_name(name)
   {
     state = JointValue();
     command = JointValue();
diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py
@@ -53,7 +53,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_14/hardware/rrbot_actuator_without_feedback.cpp b/example_14/hardware/rrbot_actuator_without_feedback.cpp
@@ -183,21 +183,23 @@ hardware_interface::return_type RRBotActuatorWithoutFeedback::read(
 hardware_interface::return_type ros2_control_demo_example_14::RRBotActuatorWithoutFeedback::write(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
-  // START: This part here is for exemplary purposes - Please do not copy to your production code
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);
-
-  // Simulate sending commands to the hardware
-  std::ostringstream data;
-  data << hw_joint_command_;
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
-    data.str().c_str());
-  send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
+  if (std::isfinite(hw_joint_command_))
+  {
+    // START: This part here is for exemplary purposes - Please do not copy to your production code
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Writing command: %f", hw_joint_command_);
 
-  RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
-  // END: This part here is for exemplary purposes - Please do not copy to your production code
+    // Simulate sending commands to the hardware
+    std::ostringstream data;
+    data << hw_joint_command_;
+    RCLCPP_INFO(
+      rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Sending data command: %s",
+      data.str().c_str());
+    send(sock_, data.str().c_str(), strlen(data.str().c_str()), 0);
 
+    RCLCPP_INFO(rclcpp::get_logger("RRBotActuatorWithoutFeedback"), "Joints successfully written!");
+    // END: This part here is for exemplary purposes - Please do not copy to your production code
+  }
   return hardware_interface::return_type::OK;
 }
 
diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
@@ -73,7 +73,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
@@ -119,7 +119,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
@@ -111,7 +111,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
@@ -111,7 +111,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
@@ -119,7 +119,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -52,7 +52,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         remappings=[
             (
                 "/forward_position_controller/commands",
diff --git a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
@@ -96,7 +96,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(
diff --git a/example_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py
@@ -68,7 +68,7 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
     )
     robot_state_pub_node = Node(

Original file line number	Diff line number	Diff line change
`@@ -67,7 +67,7 @@ def generate_launch_description():`
`67`	`67`	`control_node = Node(`
`68`	`68`	`package="controller_manager",`
`69`	`69`	`executable="ros2_control_node",`
`70`		`- parameters=[robot_description, robot_controllers],`
	`70`	`+ parameters=[robot_controllers],`
`71`	`71`	`output="both",`
`72`	`72`	`)`
`73`	`73`	`robot_state_pub_node = Node(`
Original file line number	Diff line number	Diff line change
`@@ -50,7 +50,7 @@ def generate_launch_description():`
`50`	`50`	`control_node = Node(`
`51`	`51`	`package="controller_manager",`
`52`	`52`	`executable="ros2_control_node",`
`53`		`- parameters=[robot_description, robot_controllers],`
	`53`	`+ parameters=[robot_controllers],`
`54`	`54`	`output="both",`
`55`	`55`	`)`
`56`	`56`	`robot_state_pub_node = Node(`
Original file line number	Diff line number	Diff line change
`@@ -45,7 +45,7 @@ struct JointValue`
`45`	`45`
`46`	`46`	`struct Joint`
`47`	`47`	`{`
`48`		`- Joint(const std::string & name) : joint_name(name)`
	`48`	`+ explicit Joint(const std::string & name) : joint_name(name)`
`49`	`49`	`{`
`50`	`50`	`state = JointValue();`
`51`	`51`	`command = JointValue();`
Original file line number	Diff line number	Diff line change
`@@ -53,7 +53,7 @@ def generate_launch_description():`
`53`	`53`	`control_node = Node(`
`54`	`54`	`package="controller_manager",`
`55`	`55`	`executable="ros2_control_node",`
`56`		`- parameters=[robot_description, robot_controllers],`
	`56`	`+ parameters=[robot_controllers],`
`57`	`57`	`output="both",`
`58`	`58`	`)`
`59`	`59`	`robot_state_pub_node = Node(`
Original file line number	Diff line number	Diff line change
`@@ -96,7 +96,7 @@ def generate_launch_description():`
`96`	`96`	`control_node = Node(`
`97`	`97`	`package="controller_manager",`
`98`	`98`	`executable="ros2_control_node",`
`99`		`- parameters=[robot_description, robot_controllers],`
	`99`	`+ parameters=[robot_controllers],`
`100`	`100`	`output="both",`
`101`	`101`	`)`
`102`	`102`	`robot_state_pub_node = Node(`
Original file line number	Diff line number	Diff line change
`@@ -73,7 +73,7 @@ def generate_launch_description():`
`73`	`73`	`control_node = Node(`
`74`	`74`	`package="controller_manager",`
`75`	`75`	`executable="ros2_control_node",`
`76`		`- parameters=[robot_description, robot_controllers],`
	`76`	`+ parameters=[robot_controllers],`
`77`	`77`	`output="both",`
`78`	`78`	`)`
`79`	`79`	`robot_state_pub_node = Node(`
Original file line number	Diff line number	Diff line change
`@@ -119,7 +119,7 @@ def generate_launch_description():`
`119`	`119`	`control_node = Node(`
`120`	`120`	`package="controller_manager",`
`121`	`121`	`executable="ros2_control_node",`
`122`		`- parameters=[robot_description, robot_controllers],`
	`122`	`+ parameters=[robot_controllers],`
`123`	`123`	`output="both",`
`124`	`124`	`)`
`125`	`125`	`robot_state_pub_node = Node(`
Original file line number	Diff line number	Diff line change
`@@ -111,7 +111,7 @@ def generate_launch_description():`
`111`	`111`	`control_node = Node(`
`112`	`112`	`package="controller_manager",`
`113`	`113`	`executable="ros2_control_node",`
`114`		`- parameters=[robot_description, robot_controllers],`
	`114`	`+ parameters=[robot_controllers],`
`115`	`115`	`output="both",`
`116`	`116`	`)`
`117`	`117`	`robot_state_pub_node = Node(`
Original file line number	Diff line number	Diff line change
`@@ -52,7 +52,7 @@ def generate_launch_description():`
`52`	`52`	`control_node = Node(`
`53`	`53`	`package="controller_manager",`
`54`	`54`	`executable="ros2_control_node",`
`55`		`- parameters=[robot_description, robot_controllers],`
	`55`	`+ parameters=[robot_controllers],`
`56`	`56`	`remappings=[`
`57`	`57`	`(`
`58`	`58`	`"/forward_position_controller/commands",`
Original file line number	Diff line number	Diff line change
`@@ -68,7 +68,7 @@ def generate_launch_description():`
`68`	`68`	`control_node = Node(`
`69`	`69`	`package="controller_manager",`
`70`	`70`	`executable="ros2_control_node",`
`71`		`- parameters=[robot_description, robot_controllers],`
	`71`	`+ parameters=[robot_controllers],`
`72`	`72`	`output="both",`
`73`	`73`	`)`
`74`	`74`	`robot_state_pub_node = Node(`