Merge pull request #26 from AGH-CEAI/feature/jazzy-port

ROS 2 Jazzy support

Author: macmacal

README.md

@@ -4,7 +4,7 @@
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
 [![DOI](https://zenodo.org/badge/898628878.svg)](https://doi.org/10.5281/zenodo.15047949)
 
-Package for controlling the [Robotiq Hand-E gripper](https://robotiq.com/products/adaptive-grippers#Hand-E) using the [ROS 2 Control](https://control.ros.org/humble/doc/getting_started/getting_started.html) framework. It uses the [robotiq_hande_description](https://github.com/AGH-CEAI/robotiq_hande_description) package for URDF definitions. Originally developed for integration with Universal Robots e-Series (UR5e) and ROS 2 Humble, it is possible to modify this repository to fit your needs. **PRs are welcome!**
+Package for controlling the [Robotiq Hand-E gripper](https://robotiq.com/products/adaptive-grippers#Hand-E) using the [ROS 2 Control](https://control.ros.org/jazzy/doc/getting_started/getting_started.html) framework. It uses the [robotiq_hande_description](https://github.com/AGH-CEAI/robotiq_hande_description) package for URDF definitions. Originally developed for integration with Universal Robots e-Series (UR5e) and ROS 2 Humble, it is possible to modify this repository to fit your needs. **PRs are welcome!**
 
 
 ![Control preview](docs/gripper_control.webp)
@@ -25,7 +25,7 @@ source ./install/local_setup.sh
 ```
 > [!NOTE]
 > **Configuration is split between two packages:**
-> * `robotiq_hande_description`: Hardware connection parameters are set in the URDF file. [Example config file](https://github.com/AGH-CEAI/robotiq_hande_description/blob/humble/urdf/robotiq_hande_gripper.urdf.xacro).
+> * `robotiq_hande_description`: Hardware connection parameters are set in the URDF file. [Example config file](https://github.com/AGH-CEAI/robotiq_hande_description/blob/jazzy/urdf/robotiq_hande_gripper.urdf.xacro).
 > * `robotiq_hande_driver`: The controller configuration is set by launch parameters for the `controller_node`. [Example config file](robotiq_hande_driver/bringup/config/hande_controller.yaml).
 
 
@@ -40,8 +40,17 @@ Send a command to the gripper in another terminal:
 ```bash
 ros2 action send_goal /gripper_action_controller/gripper_cmd control_msgs/action/GripperCommand \
 "command:
+  header:
   position: 0.0
+    stamp:
   max_effort: 0.0
+      sec: 0
+      nanosec: 0
+    frame_id: ''
+  name: []
+  position: [0.0]
+  velocity: []
+  effort: []
 "
 ```
 
@@ -120,17 +129,17 @@ socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:192.168.100.10:54321
 
 ## Integration with (other) robots
 
-To integrate the Robotiq Hand-E gripper into your existing robot, you first need to create a [Xacro (URDF) file](https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/URDF-Main.html) that includes the Hand-E macros and defines all necessary parameters.
+To integrate the Robotiq Hand-E gripper into your existing robot, you first need to create a [Xacro (URDF) file](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/URDF/URDF-Main.html) that includes the Hand-E macros and defines all necessary parameters.
 
-A working example of such a file can be found [here](https://github.com/AGH-CEAI/aegis_ros/blob/humble-devel/aegis_description/urdf/modules/robotiq_hande_gripper.xacro). You can use this file as a starting point for your own integration.
+A working example of such a file can be found [here](https://github.com/AGH-CEAI/aegis_ros/blob/jazzy-devel/aegis_description/urdf/modules/robotiq_hande_gripper.xacro). You can use this file as a starting point for your own integration.
 
 Next, include this Xacro file in your main robot description tree at the appropriate tool link.
 
-An example of including it in a robot Xacro can be found [here](https://github.com/AGH-CEAI/aegis_ros/blob/humble-devel/aegis_description/urdf/aegis.xacro).
+An example of including it in a robot Xacro can be found [here](https://github.com/AGH-CEAI/aegis_ros/blob/jazzy-devel/aegis_description/urdf/aegis.xacro).
 
 The included robotiq_hande_gripper macro automatically sets up the `<ros2_control>` block pointing to the Robotiq Hand-E driver plugin. This ensures that your robot can control the gripper via the standard ROS 2 control interfaces.
 
-You can easliy dig into the `ros2_control` concepts with [its documentation](https://control.ros.org/rolling/doc/ros2_control/doc/index.html#concepts). There is also a [plenty of examples](https://control.ros.org/humble/doc/ros2_control_demos/doc/index.html#examples)
+You can easliy dig into the `ros2_control` concepts with [its documentation](https://control.ros.org/jazzy/doc/ros2_control/doc/index.html#concepts). There is also a [plenty of examples](https://control.ros.org/jazzy/doc/ros2_control_demos/doc/index.html#examples)
 
 > [!IMPORTANT]
 > The `robotiq_hande_driver` currently provides only a **hardware component** (i.e. _hardware interface_) to control the fingers' joints.

robotiq_hande_driver/CHANGELOG.md

@@ -21,8 +21,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* [PR-26](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/26) - Migration from ROS 2 Humble to ROS 2 Jazzy.
 * [PR-27](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/27) - Renamed `ip_adress` to `socat_ip_address` and `port` to `socat_port`.
-
 * [PR-21](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/21) - Refactored the modbus communication to use multithreads:
   * Renamed `application.hpp/cpp` to `hande_gripper.hpp/cpp`.
   * Changed plain arrays `uint8_t bytes_[]` into `std::array<uint8_t, *>`.

robotiq_hande_driver/CMakeLists.txt

@@ -60,10 +60,12 @@ install(
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   # find_package(ament_cmake_pytest REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
   find_package(hardware_interface REQUIRED)
 
   ament_add_gmock(test_load_hw_interface test/test_load_hw_interface.cpp)
   target_link_libraries(test_load_hw_interface ${PROJECT_NAME})
+  ament_target_dependencies(test_load_hw_interface ros2_control_test_assets)
 
   # TODO(issue#8) Build the communication_test only with BUILD_TESTING flag
   # ament_add_gmock(application_test test/application_test.cpp )

robotiq_hande_driver/bringup/config/hande_controller.yaml

@@ -9,16 +9,20 @@
         type: joint_state_broadcaster/JointStateBroadcaster
 
       gripper_action_controller:
-        type: position_controllers/GripperActionController
+        type: parallel_gripper_action_controller/GripperActionController
 
   gripper_action_controller:
     ros__parameters:
       action_monitor_rate: 20.0 # Hz
       joint: $(var tf_prefix)robotiq_hande_left_finger_joint
-      max_effort: 10.0 # N
       goal_tolerance: 0.01 # m
       allow_stalling: false
-      stall_velocity_threshold: 0.001 #m/s
+      stall_velocity_threshold: 0.001 # m/s
       stall_timeout: 1.0 # s
+      max_effort_interface: ""
+      max_effort: 10.0 # N
+      max_velocity_interface: ""
+      max_velocity: 0.1 # m/s
       state_interfaces:
         - position
+        - velocity

robotiq_hande_driver/hardware/include/robotiq_hande_driver/hande_hardware_interface.hpp

@@ -25,7 +25,7 @@ class RobotiqHandeHardwareInterface : public HWI::SystemInterface {
 
     ~RobotiqHandeHardwareInterface();
 
-    HWI::CallbackReturn on_init(const HWI::HardwareInfo& info) override;
+    HWI::CallbackReturn on_init(const HWI::HardwareComponentInterfaceParams& info) override;
     HWI::CallbackReturn on_configure(const rlccp_lc::State& previous_state) override;
     HWI::CallbackReturn on_cleanup(const rlccp_lc::State& previous_state) override;
     std::vector<HWI::StateInterface> export_state_interfaces() override;

robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp

@@ -17,7 +17,8 @@ RobotiqHandeHardwareInterface::~RobotiqHandeHardwareInterface() {
     if(socat_ && socat_->is_alive()) socat_->stop();
 }
 
-HWI::CallbackReturn RobotiqHandeHardwareInterface::on_init(const HWI::HardwareInfo& info) {
+HWI::CallbackReturn RobotiqHandeHardwareInterface::on_init(
+    const HWI::HardwareComponentInterfaceParams& info) {
     if(HWI::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
         return HWI::CallbackReturn::ERROR;
     }

robotiq_hande_driver/robotiq_hande_driver.repos

@@ -2,4 +2,4 @@ repositories:
   robotiq_hande_description:
     type: git
     url: https://github.com/AGH-CEAI/robotiq_hande_description
-    version: 2190af7c85569fc9a85f4b78096edd433c0dbad1
+    version: v0.2.0-jazzy

robotiq_hande_driver/test/test_load_hw_interface.cpp

@@ -3,14 +3,17 @@
 #include <cmath>
 #include <string>
 
-#include "hardware_interface/loaned_command_interface.hpp"
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #include "hardware_interface/loaned_state_interface.hpp"
+#include "hardware_interface/types/lifecycle_state_names.hpp"
+#pragma GCC diagnostic pop
+
 #include "hardware_interface/resource_manager.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
+#include "rclcpp/node.hpp"
 #include "rclcpp_lifecycle/state.hpp"
-#include "ros2_control_test_assets/components_urdfs.hpp"
-#include "ros2_control_test_assets/descriptions.hpp"
 
 // Based on tutorial
 // https://control.ros.org/rolling/doc/ros2_controllers/doc/writing_new_controller.html
@@ -20,6 +23,14 @@
 
 class TestHWInterface : public ::testing::Test {
    protected:
+    static void SetUpTestCase() {
+        rclcpp::init(0, nullptr);
+    }
+
+    static void TearDownTestCase() {
+        rclcpp::shutdown();
+    }
+
     void SetUp() override {
         hw_system_gripper_1dof_ =
             R"(
@@ -50,6 +61,7 @@ class TestHWInterface : public ::testing::Test {
     }
 
     std::string hw_system_gripper_1dof_;
+    rclcpp::Node node_ = rclcpp::Node("TestGenericSystem");
 };
 
 // Forward declaration
@@ -61,15 +73,25 @@ class TestableResourceManager : public hardware_interface::ResourceManager {
    public:
     friend TestHWInterface;
 
-    TestableResourceManager() : hardware_interface::ResourceManager() {}
+    explicit TestableResourceManager(rclcpp::Node& node)
+        : hardware_interface::ResourceManager(
+              node.get_node_clock_interface(), node.get_node_logging_interface()) {}
 
-    TestableResourceManager(
-        const std::string& urdf, bool validate_interfaces = true, bool activate_all = false)
-        : hardware_interface::ResourceManager(urdf, validate_interfaces, activate_all) {}
+    explicit TestableResourceManager(
+        rclcpp::Node& node,
+        const std::string& urdf,
+        bool activate_all = false,
+        unsigned int cm_update_rate = 100)
+        : hardware_interface::ResourceManager(
+              urdf,
+              node.get_node_clock_interface(),
+              node.get_node_logging_interface(),
+              activate_all,
+              cm_update_rate) {}
 };
 
 TEST_F(TestHWInterface, load_robotiq_hande_hardware_interface) {
     auto urdf = ros2_control_test_assets::urdf_head + hw_system_gripper_1dof_
                 + ros2_control_test_assets::urdf_tail;
-    ASSERT_NO_THROW(TestableResourceManager rm(urdf));
+    ASSERT_NO_THROW(TestableResourceManager rm(node_, urdf));
 }