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controller_manager.cpp
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// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "controller_manager/controller_manager.hpp"
#include <memory>
#include <set>
#include <string>
#include <utility>
#include <vector>
#include "controller_interface/controller_interface_base.hpp"
#include "controller_manager_msgs/msg/hardware_component_state.hpp"
#include "hardware_interface/types/lifecycle_state_names.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "rcl/arguments.h"
#include "rclcpp/version.h"
#include "rclcpp_lifecycle/state.hpp"
#include "controller_manager/controller_manager_parameters.hpp"
namespace // utility
{
static constexpr const char * kControllerInterfaceNamespace = "controller_interface";
static constexpr const char * kControllerInterfaceClassName =
"controller_interface::ControllerInterface";
static constexpr const char * kChainableControllerInterfaceClassName =
"controller_interface::ChainableControllerInterface";
// Changed services history QoS to keep all so we don't lose any client service calls
// \note The versions conditioning is added here to support the source-compatibility with Humble
#if RCLCPP_VERSION_MAJOR >= 17
rclcpp::QoS qos_services =
rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
.reliable()
.durability_volatile();
#else
static const rmw_qos_profile_t qos_services = {
RMW_QOS_POLICY_HISTORY_KEEP_ALL,
1, // message queue depth
RMW_QOS_POLICY_RELIABILITY_RELIABLE,
RMW_QOS_POLICY_DURABILITY_VOLATILE,
RMW_QOS_DEADLINE_DEFAULT,
RMW_QOS_LIFESPAN_DEFAULT,
RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
false};
#endif
inline bool is_controller_unconfigured(
const controller_interface::ControllerInterfaceBase & controller)
{
return controller.get_lifecycle_state().id() ==
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED;
}
inline bool is_controller_inactive(const controller_interface::ControllerInterfaceBase & controller)
{
return controller.get_lifecycle_state().id() ==
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE;
}
inline bool is_controller_inactive(
const controller_interface::ControllerInterfaceBaseSharedPtr & controller)
{
return is_controller_inactive(*controller);
}
inline bool is_controller_active(const controller_interface::ControllerInterfaceBase & controller)
{
return controller.get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE;
}
inline bool is_controller_active(
const controller_interface::ControllerInterfaceBaseSharedPtr & controller)
{
return is_controller_active(*controller);
}
bool controller_name_compare(const controller_manager::ControllerSpec & a, const std::string & name)
{
return a.info.name == name;
}
/// Checks if an interface belongs to a controller based on its prefix.
/**
* A State/Command interface can be provided by a controller in which case is called
* "state/reference" interface. This means that the @interface_name starts with the name of a
* controller.
*
* \param[in] interface_name to be found in the map.
* \param[in] controllers list of controllers to compare their names to interface's prefix.
* \param[out] following_controller_it iterator to the following controller that reference interface
* @interface_name belongs to.
* \return true if interface has a controller name as prefix, false otherwise.
*/
bool is_interface_a_chained_interface(
const std::string interface_name,
const std::vector<controller_manager::ControllerSpec> & controllers,
controller_manager::ControllersListIterator & following_controller_it)
{
auto split_pos = interface_name.find_first_of('/');
if (split_pos == std::string::npos) // '/' exist in the string (should be always false)
{
RCLCPP_FATAL(
rclcpp::get_logger("ControllerManager::utils"),
"Character '/', was not find in the interface name '%s'. This should never happen. "
"Stop the controller manager immediately and restart it.",
interface_name.c_str());
throw std::runtime_error("Mismatched interface name. See the FATAL message above.");
}
auto interface_prefix = interface_name.substr(0, split_pos);
following_controller_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, interface_prefix));
RCLCPP_DEBUG(
rclcpp::get_logger("ControllerManager::utils"),
"Deduced interface prefix '%s' - searching for the controller with the same name.",
interface_prefix.c_str());
if (following_controller_it == controllers.end())
{
RCLCPP_DEBUG(
rclcpp::get_logger("ControllerManager::utils"),
"Required interface '%s' with prefix '%s' is not a chain interface.", interface_name.c_str(),
interface_prefix.c_str());
return false;
}
return true;
}
template <typename T>
void add_element_to_list(std::vector<T> & list, const T & element)
{
if (std::find(list.begin(), list.end(), element) == list.end())
{
// Only add to the list if it doesn't exist
list.push_back(element);
}
}
template <typename T>
void remove_element_from_list(std::vector<T> & list, const T & element)
{
auto itr = std::find(list.begin(), list.end(), element);
if (itr != list.end())
{
list.erase(itr);
}
}
void controller_chain_spec_cleanup(
std::unordered_map<std::string, controller_manager::ControllerChainSpec> & ctrl_chain_spec,
const std::string & controller)
{
const auto following_controllers = ctrl_chain_spec[controller].following_controllers;
const auto preceding_controllers = ctrl_chain_spec[controller].preceding_controllers;
for (const auto & flwg_ctrl : following_controllers)
{
remove_element_from_list(ctrl_chain_spec[flwg_ctrl].preceding_controllers, controller);
}
for (const auto & preced_ctrl : preceding_controllers)
{
remove_element_from_list(ctrl_chain_spec[preced_ctrl].following_controllers, controller);
}
ctrl_chain_spec.erase(controller);
}
// Gets the list of active controllers that use the command interface of the given controller
void get_active_controllers_using_command_interfaces_of_controller(
const std::string & controller_name,
const std::vector<controller_manager::ControllerSpec> & controllers,
std::vector<std::string> & controllers_using_command_interfaces)
{
auto it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (it == controllers.end())
{
RCLCPP_ERROR(
rclcpp::get_logger("ControllerManager::utils"),
"Controller '%s' not found in the list of controllers.", controller_name.c_str());
return;
}
const auto cmd_itfs = it->c->command_interface_configuration().names;
for (const auto & cmd_itf : cmd_itfs)
{
for (const auto & controller : controllers)
{
const auto ctrl_cmd_itfs = controller.c->command_interface_configuration().names;
// check if the controller is active and has the command interface and make sure that it
// doesn't exist in the list already
if (
is_controller_active(controller.c) &&
std::find(ctrl_cmd_itfs.begin(), ctrl_cmd_itfs.end(), cmd_itf) != ctrl_cmd_itfs.end())
{
add_element_to_list(controllers_using_command_interfaces, controller.info.name);
}
}
}
}
} // namespace
namespace controller_manager
{
rclcpp::NodeOptions get_cm_node_options()
{
rclcpp::NodeOptions node_options;
// Required for getting types of controllers to be loaded via service call
node_options.allow_undeclared_parameters(true);
node_options.automatically_declare_parameters_from_overrides(true);
// \note The versions conditioning is added here to support the source-compatibility until Humble
#if RCLCPP_VERSION_MAJOR >= 21
node_options.enable_logger_service(true);
#endif
return node_options;
}
ControllerManager::ControllerManager(
std::shared_ptr<rclcpp::Executor> executor, const std::string & manager_node_name,
const std::string & node_namespace, const rclcpp::NodeOptions & options)
: rclcpp::Node(manager_node_name, node_namespace, options),
resource_manager_(std::make_unique<hardware_interface::ResourceManager>(
this->get_node_clock_interface(), this->get_node_logging_interface())),
diagnostics_updater_(this),
executor_(executor),
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
chainable_loader_(
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
cm_node_options_(options)
{
initialize_parameters();
init_controller_manager();
}
ControllerManager::ControllerManager(
std::shared_ptr<rclcpp::Executor> executor, const std::string & urdf,
bool activate_all_hw_components, const std::string & manager_node_name,
const std::string & node_namespace, const rclcpp::NodeOptions & options)
: rclcpp::Node(manager_node_name, node_namespace, options),
diagnostics_updater_(this),
executor_(executor),
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
chainable_loader_(
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
cm_node_options_(options),
robot_description_(urdf)
{
initialize_parameters();
resource_manager_ = std::make_unique<hardware_interface::ResourceManager>(
urdf, this->get_node_clock_interface(), this->get_node_logging_interface(),
activate_all_hw_components, params_->update_rate);
init_controller_manager();
}
ControllerManager::ControllerManager(
std::unique_ptr<hardware_interface::ResourceManager> resource_manager,
std::shared_ptr<rclcpp::Executor> executor, const std::string & manager_node_name,
const std::string & node_namespace, const rclcpp::NodeOptions & options)
: rclcpp::Node(manager_node_name, node_namespace, options),
resource_manager_(std::move(resource_manager)),
diagnostics_updater_(this),
executor_(executor),
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
chainable_loader_(
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
cm_node_options_(options)
{
initialize_parameters();
init_controller_manager();
}
ControllerManager::~ControllerManager()
{
if (preshutdown_cb_handle_)
{
rclcpp::Context::SharedPtr context = this->get_node_base_interface()->get_context();
context->remove_pre_shutdown_callback(*(preshutdown_cb_handle_.get()));
preshutdown_cb_handle_.reset();
}
}
bool ControllerManager::shutdown_controllers()
{
RCLCPP_INFO(get_logger(), "Shutting down all controllers in the controller manager.");
// Shutdown all controllers
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
std::vector<ControllerSpec> controllers_list = rt_controllers_wrapper_.get_updated_list(guard);
bool ctrls_shutdown_status = true;
for (auto & controller : controllers_list)
{
if (is_controller_active(controller.c))
{
RCLCPP_INFO(
get_logger(), "Deactivating controller '%s'", controller.c->get_node()->get_name());
controller.c->get_node()->deactivate();
controller.c->release_interfaces();
}
if (is_controller_inactive(*controller.c) || is_controller_unconfigured(*controller.c))
{
RCLCPP_INFO(
get_logger(), "Shutting down controller '%s'", controller.c->get_node()->get_name());
shutdown_controller(controller);
}
ctrls_shutdown_status &=
(controller.c->get_node()->get_current_state().id() ==
lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
executor_->remove_node(controller.c->get_node()->get_node_base_interface());
}
return ctrls_shutdown_status;
}
void ControllerManager::init_controller_manager()
{
// Get parameters needed for RT "update" loop to work
if (is_resource_manager_initialized())
{
init_services();
}
else
{
robot_description_notification_timer_ = create_wall_timer(
std::chrono::seconds(1),
[&]()
{
RCLCPP_WARN(
get_logger(), "Waiting for data on 'robot_description' topic to finish initialization");
});
}
// set QoS to transient local to get messages that have already been published
// (if robot state publisher starts before controller manager)
robot_description_subscription_ = create_subscription<std_msgs::msg::String>(
"robot_description", rclcpp::QoS(1).transient_local(),
std::bind(&ControllerManager::robot_description_callback, this, std::placeholders::_1));
RCLCPP_INFO(
get_logger(), "Subscribing to '%s' topic for robot description.",
robot_description_subscription_->get_topic_name());
// Setup diagnostics
periodicity_stats_.Reset();
diagnostics_updater_.setHardwareID("ros2_control");
diagnostics_updater_.add(
"Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
diagnostics_updater_.add(
"Hardware Components Activity", this,
&ControllerManager::hardware_components_diagnostic_callback);
diagnostics_updater_.add(
"Controller Manager Activity", this,
&ControllerManager::controller_manager_diagnostic_callback);
// Add on_shutdown callback to stop the controller manager
rclcpp::Context::SharedPtr context = this->get_node_base_interface()->get_context();
preshutdown_cb_handle_ =
std::make_unique<rclcpp::PreShutdownCallbackHandle>(context->add_pre_shutdown_callback(
[this]()
{
RCLCPP_INFO(get_logger(), "Shutdown request received....");
if (this->get_node_base_interface()->get_associated_with_executor_atomic().load())
{
executor_->remove_node(this->get_node_base_interface());
}
executor_->cancel();
if (!this->shutdown_controllers())
{
RCLCPP_ERROR(get_logger(), "Failed shutting down the controllers.");
}
if (!resource_manager_->shutdown_components())
{
RCLCPP_ERROR(get_logger(), "Failed shutting down hardware components.");
}
RCLCPP_INFO(get_logger(), "Shutting down the controller manager.");
}));
}
void ControllerManager::initialize_parameters()
{
// Initialize parameters
try
{
cm_param_listener_ = std::make_shared<controller_manager::ParamListener>(
this->get_node_parameters_interface(), this->get_logger());
params_ = std::make_shared<controller_manager::Params>(cm_param_listener_->get_params());
update_rate_ = static_cast<unsigned int>(params_->update_rate);
}
catch (const std::exception & e)
{
RCLCPP_ERROR(
this->get_logger(),
"Exception thrown while initializing controller manager parameters: %s \n", e.what());
throw e;
}
}
void ControllerManager::robot_description_callback(const std_msgs::msg::String & robot_description)
{
RCLCPP_INFO(get_logger(), "Received robot description from topic.");
RCLCPP_DEBUG(
get_logger(), "'Content of robot description file: %s", robot_description.data.c_str());
robot_description_ = robot_description.data;
if (is_resource_manager_initialized())
{
RCLCPP_WARN(
get_logger(),
"ResourceManager has already loaded a urdf. Ignoring attempt to reload a robot description.");
return;
}
init_resource_manager(robot_description_);
if (is_resource_manager_initialized())
{
RCLCPP_INFO(
get_logger(),
"Resource Manager has been successfully initialized. Starting Controller Manager "
"services...");
init_services();
}
}
void ControllerManager::init_resource_manager(const std::string & robot_description)
{
if (cm_param_listener_->is_old(*params_))
{
*params_ = cm_param_listener_->get_params();
}
if (!resource_manager_->load_and_initialize_components(
robot_description, update_rate_, params_->hardware_components_initial_state.not_loaded))
{
RCLCPP_WARN(
get_logger(),
"Could not load and initialize hardware. Please check previous output for more details. "
"After you have corrected your URDF, try to publish robot description again.");
return;
}
// Get all components and if they are not defined in parameters activate them automatically
auto components_to_activate = resource_manager_->get_components_status();
using lifecycle_msgs::msg::State;
auto set_components_to_state =
[&](const std::vector<std::string> & components_to_set, rclcpp_lifecycle::State state)
{
for (const auto & component : components_to_set)
{
if (component.empty())
{
continue;
}
if (components_to_activate.find(component) == components_to_activate.end())
{
RCLCPP_WARN(
get_logger(), "Hardware component '%s' is unknown, therefore not set in '%s' state.",
component.c_str(), state.label().c_str());
}
else
{
RCLCPP_INFO(
get_logger(), "Setting component '%s' to '%s' state.", component.c_str(),
state.label().c_str());
if (
resource_manager_->set_component_state(component, state) ==
hardware_interface::return_type::ERROR)
{
throw std::runtime_error(
"Failed to set the initial state of the component : " + component + " to " +
state.label());
}
components_to_activate.erase(component);
}
}
};
// unconfigured (loaded only)
set_components_to_state(
params_->hardware_components_initial_state.unconfigured,
rclcpp_lifecycle::State(
State::PRIMARY_STATE_UNCONFIGURED, hardware_interface::lifecycle_state_names::UNCONFIGURED));
// inactive (configured)
set_components_to_state(
params_->hardware_components_initial_state.inactive,
rclcpp_lifecycle::State(
State::PRIMARY_STATE_INACTIVE, hardware_interface::lifecycle_state_names::INACTIVE));
// activate all other components
for (const auto & [component, state] : components_to_activate)
{
rclcpp_lifecycle::State active_state(
State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
if (
resource_manager_->set_component_state(component, active_state) ==
hardware_interface::return_type::ERROR)
{
throw std::runtime_error(
"Failed to set the initial state of the component : " + component + " to " +
active_state.label());
}
}
robot_description_notification_timer_->cancel();
}
void ControllerManager::init_services()
{
// TODO(anyone): Due to issues with the MutliThreadedExecutor, this control loop does not rely on
// the executor (see issue #260).
// deterministic_callback_group_ = create_callback_group(
// rclcpp::CallbackGroupType::MutuallyExclusive);
best_effort_callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
using namespace std::placeholders;
list_controllers_service_ = create_service<controller_manager_msgs::srv::ListControllers>(
"~/list_controllers", std::bind(&ControllerManager::list_controllers_srv_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
list_controller_types_service_ =
create_service<controller_manager_msgs::srv::ListControllerTypes>(
"~/list_controller_types",
std::bind(&ControllerManager::list_controller_types_srv_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
load_controller_service_ = create_service<controller_manager_msgs::srv::LoadController>(
"~/load_controller", std::bind(&ControllerManager::load_controller_service_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
configure_controller_service_ = create_service<controller_manager_msgs::srv::ConfigureController>(
"~/configure_controller",
std::bind(&ControllerManager::configure_controller_service_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
reload_controller_libraries_service_ =
create_service<controller_manager_msgs::srv::ReloadControllerLibraries>(
"~/reload_controller_libraries",
std::bind(&ControllerManager::reload_controller_libraries_service_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
switch_controller_service_ = create_service<controller_manager_msgs::srv::SwitchController>(
"~/switch_controller",
std::bind(&ControllerManager::switch_controller_service_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
unload_controller_service_ = create_service<controller_manager_msgs::srv::UnloadController>(
"~/unload_controller",
std::bind(&ControllerManager::unload_controller_service_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
list_hardware_components_service_ =
create_service<controller_manager_msgs::srv::ListHardwareComponents>(
"~/list_hardware_components",
std::bind(&ControllerManager::list_hardware_components_srv_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
list_hardware_interfaces_service_ =
create_service<controller_manager_msgs::srv::ListHardwareInterfaces>(
"~/list_hardware_interfaces",
std::bind(&ControllerManager::list_hardware_interfaces_srv_cb, this, _1, _2), qos_services,
best_effort_callback_group_);
set_hardware_component_state_service_ =
create_service<controller_manager_msgs::srv::SetHardwareComponentState>(
"~/set_hardware_component_state",
std::bind(&ControllerManager::set_hardware_component_state_srv_cb, this, _1, _2),
qos_services, best_effort_callback_group_);
}
controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_controller(
const std::string & controller_name, const std::string & controller_type)
{
RCLCPP_INFO(get_logger(), "Loading controller '%s'", controller_name.c_str());
if (
!loader_->isClassAvailable(controller_type) &&
!chainable_loader_->isClassAvailable(controller_type))
{
RCLCPP_ERROR(
get_logger(), "Loader for controller '%s' (type '%s') not found.", controller_name.c_str(),
controller_type.c_str());
RCLCPP_INFO(get_logger(), "Available classes:");
for (const auto & available_class : loader_->getDeclaredClasses())
{
RCLCPP_INFO(get_logger(), " %s", available_class.c_str());
}
for (const auto & available_class : chainable_loader_->getDeclaredClasses())
{
RCLCPP_INFO(get_logger(), " %s", available_class.c_str());
}
return nullptr;
}
RCLCPP_DEBUG(get_logger(), "Loader for controller '%s' found.", controller_name.c_str());
controller_interface::ControllerInterfaceBaseSharedPtr controller;
try
{
if (loader_->isClassAvailable(controller_type))
{
controller = loader_->createSharedInstance(controller_type);
}
if (chainable_loader_->isClassAvailable(controller_type))
{
controller = chainable_loader_->createSharedInstance(controller_type);
}
}
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(),
"Caught exception of type : %s while loading the controller '%s' of plugin type '%s':\n%s",
typeid(e).name(), controller_name.c_str(), controller_type.c_str(), e.what());
return nullptr;
}
catch (...)
{
RCLCPP_ERROR(
get_logger(),
"Caught unknown exception while loading the controller '%s' of plugin type '%s'",
controller_name.c_str(), controller_type.c_str());
throw;
}
ControllerSpec controller_spec;
controller_spec.c = controller;
controller_spec.info.name = controller_name;
controller_spec.info.type = controller_type;
controller_spec.last_update_cycle_time = std::make_shared<rclcpp::Time>(
0, 0, this->get_node_clock_interface()->get_clock()->get_clock_type());
controller_spec.execution_time_statistics = std::make_shared<MovingAverageStatistics>();
controller_spec.periodicity_statistics = std::make_shared<MovingAverageStatistics>();
// We have to fetch the parameters_file at the time of loading the controller, because this way we
// can load them at the creation of the LifeCycleNode and this helps in using the features such as
// read_only params, dynamic maps lists etc
// Now check if the parameters_file parameter exist
const std::string param_name = controller_name + ".params_file";
controller_spec.info.parameters_files.clear();
// get_parameter checks if parameter has been declared/set
rclcpp::Parameter params_files_parameter;
if (get_parameter(param_name, params_files_parameter))
{
if (params_files_parameter.get_type() == rclcpp::ParameterType::PARAMETER_STRING_ARRAY)
{
controller_spec.info.parameters_files = params_files_parameter.as_string_array();
}
else if (params_files_parameter.get_type() == rclcpp::ParameterType::PARAMETER_STRING)
{
controller_spec.info.parameters_files.push_back(params_files_parameter.as_string());
}
else
{
RCLCPP_ERROR(
get_logger(),
"The 'params_file' param needs to be a string or a string array for '%s', but it is of "
"type %s",
controller_name.c_str(), params_files_parameter.get_type_name().c_str());
}
}
const std::string fallback_ctrl_param = controller_name + ".fallback_controllers";
std::vector<std::string> fallback_controllers;
if (!has_parameter(fallback_ctrl_param))
{
declare_parameter(fallback_ctrl_param, rclcpp::ParameterType::PARAMETER_STRING_ARRAY);
}
if (get_parameter(fallback_ctrl_param, fallback_controllers) && !fallback_controllers.empty())
{
if (
std::find(fallback_controllers.begin(), fallback_controllers.end(), controller_name) !=
fallback_controllers.end())
{
RCLCPP_ERROR(
get_logger(), "Controller '%s' cannot be a fallback controller for itself.",
controller_name.c_str());
return nullptr;
}
controller_spec.info.fallback_controllers_names = fallback_controllers;
}
const std::string node_options_args_param = controller_name + ".node_options_args";
std::vector<std::string> node_options_args;
if (!has_parameter(node_options_args_param))
{
declare_parameter(node_options_args_param, rclcpp::ParameterType::PARAMETER_STRING_ARRAY);
}
if (get_parameter(node_options_args_param, node_options_args) && !node_options_args.empty())
{
controller_spec.info.node_options_args = node_options_args;
}
return add_controller_impl(controller_spec);
}
controller_interface::ControllerInterfaceBaseSharedPtr ControllerManager::load_controller(
const std::string & controller_name)
{
const std::string param_name = controller_name + ".type";
std::string controller_type;
// We cannot declare the parameters for the controllers that will be loaded in the future,
// because they are plugins and we cannot be aware of all of them.
// So when we're told to load a controller by name, we need to declare the parameter if
// we haven't done so, and then read it.
// Check if parameter has been declared
if (!has_parameter(param_name))
{
declare_parameter(param_name, rclcpp::ParameterType::PARAMETER_STRING);
}
if (!get_parameter(param_name, controller_type))
{
RCLCPP_ERROR(
get_logger(), "The 'type' param was not defined for '%s'.", controller_name.c_str());
return nullptr;
}
RCLCPP_INFO(
get_logger(), "Loading controller : '%s' of type '%s'", controller_name.c_str(),
controller_type.c_str());
return load_controller(controller_name, controller_type);
}
controller_interface::return_type ControllerManager::unload_controller(
const std::string & controller_name)
{
RCLCPP_INFO(get_logger(), "Unloading controller: '%s'", controller_name.c_str());
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
std::vector<ControllerSpec> & to = rt_controllers_wrapper_.get_unused_list(guard);
const std::vector<ControllerSpec> & from = rt_controllers_wrapper_.get_updated_list(guard);
// Transfers the active controllers over, skipping the one to be removed and the active ones.
to = from;
auto found_it = std::find_if(
to.begin(), to.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == to.end())
{
// Fails if we could not remove the controllers
to.clear();
RCLCPP_ERROR(
get_logger(),
"Could not unload controller with name '%s' because no controller with this name exists",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
auto & controller = *found_it;
if (is_controller_active(*controller.c))
{
to.clear();
RCLCPP_ERROR(
get_logger(), "Could not unload controller with name '%s' because it is still active",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
RCLCPP_DEBUG(get_logger(), "Shutdown controller");
controller_chain_spec_cleanup(controller_chain_spec_, controller_name);
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
if (is_controller_inactive(*controller.c) || is_controller_unconfigured(*controller.c))
{
RCLCPP_DEBUG(
get_logger(), "Controller '%s' is shutdown before unloading!", controller_name.c_str());
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
shutdown_controller(controller);
}
executor_->remove_node(controller.c->get_node()->get_node_base_interface());
to.erase(found_it);
// Destroys the old controllers list when the realtime thread is finished with it.
RCLCPP_DEBUG(get_logger(), "Realtime switches over to new controller list");
rt_controllers_wrapper_.switch_updated_list(guard);
std::vector<ControllerSpec> & new_unused_list = rt_controllers_wrapper_.get_unused_list(guard);
RCLCPP_DEBUG(get_logger(), "Destruct controller");
new_unused_list.clear();
RCLCPP_DEBUG(get_logger(), "Destruct controller finished");
RCLCPP_DEBUG(get_logger(), "Successfully unloaded controller '%s'", controller_name.c_str());
return controller_interface::return_type::OK;
}
void ControllerManager::shutdown_controller(controller_manager::ControllerSpec & controller) const
{
try
{
const auto new_state = controller.c->get_node()->shutdown();
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
{
RCLCPP_WARN(
get_logger(), "Failed to shutdown the controller '%s' before unloading!",
controller.info.name.c_str());
}
}
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(),
"Caught exception of type : %s while shutdown the controller '%s' before unloading: %s",
typeid(e).name(), controller.info.name.c_str(), e.what());
}
catch (...)
{
RCLCPP_ERROR(
get_logger(), "Failed to shutdown the controller '%s' before unloading",
controller.info.name.c_str());
}
}
std::vector<ControllerSpec> ControllerManager::get_loaded_controllers() const
{
std::lock_guard<std::recursive_mutex> guard(rt_controllers_wrapper_.controllers_lock_);
return rt_controllers_wrapper_.get_updated_list(guard);
}
controller_interface::return_type ControllerManager::configure_controller(
const std::string & controller_name)
{
RCLCPP_INFO(get_logger(), "Configuring controller: '%s'", controller_name.c_str());
const auto & controllers = get_loaded_controllers();
auto found_it = std::find_if(
controllers.begin(), controllers.end(),
std::bind(controller_name_compare, std::placeholders::_1, controller_name));
if (found_it == controllers.end())
{
RCLCPP_ERROR(
get_logger(),
"Could not configure controller with name '%s' because no controller with this name exists",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
auto controller = found_it->c;
auto state = controller->get_lifecycle_state();
if (
state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE ||
state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
{
RCLCPP_ERROR(
get_logger(), "Controller '%s' can not be configured from '%s' state.",
controller_name.c_str(), state.label().c_str());
return controller_interface::return_type::ERROR;
}
auto new_state = controller->get_lifecycle_state();
if (state.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
RCLCPP_DEBUG(
get_logger(), "Controller '%s' is cleaned-up before configuring", controller_name.c_str());
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
try
{
new_state = controller->get_node()->cleanup();
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
RCLCPP_ERROR(
get_logger(), "Controller '%s' can not be cleaned-up before configuring",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
}
catch (...)
{
RCLCPP_ERROR(
get_logger(), "Caught exception while cleaning-up controller '%s' before configuring",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
}
try
{
new_state = controller->configure();
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
{
RCLCPP_ERROR(
get_logger(), "After configuring, controller '%s' is in state '%s' , expected inactive.",
controller_name.c_str(), new_state.label().c_str());
return controller_interface::return_type::ERROR;
}
}
catch (const std::exception & e)
{
RCLCPP_ERROR(
get_logger(), "Caught exception of type : %s while configuring controller '%s': %s",
typeid(e).name(), controller_name.c_str(), e.what());
return controller_interface::return_type::ERROR;
}
catch (...)
{
RCLCPP_ERROR(
get_logger(), "Caught unknown exception while configuring controller '%s'",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
const auto controller_update_rate = controller->get_update_rate();
const auto cm_update_rate = get_update_rate();
if (controller_update_rate > cm_update_rate)
{
RCLCPP_WARN(
get_logger(),
"The controller : %s update rate : %d Hz should be less than or equal to controller "
"manager's update rate : %d Hz!. The controller will be updated at controller_manager's "
"update rate.",
controller_name.c_str(), controller_update_rate, cm_update_rate);
}
else if (cm_update_rate % controller_update_rate != 0)
{
RCLCPP_WARN(
get_logger(),
"The controller : %s update cycles won't be triggered at a constant period : %f sec, as the "
"controller's update rate : %d Hz is not a perfect divisor of the controller manager's "
"update rate : %d Hz!.",
controller_name.c_str(), 1.0 / controller_update_rate, controller_update_rate,
cm_update_rate);
}
// CHAINABLE CONTROLLERS: get reference interfaces from chainable controllers
if (controller->is_chainable())
{
RCLCPP_DEBUG(
get_logger(),
"Controller '%s' is chainable. Interfaces are being exported to resource manager.",
controller_name.c_str());
std::vector<hardware_interface::StateInterface::ConstSharedPtr> state_interfaces;
std::vector<hardware_interface::CommandInterface::SharedPtr> ref_interfaces;
try
{
state_interfaces = controller->export_state_interfaces();
ref_interfaces = controller->export_reference_interfaces();
if (ref_interfaces.empty() && state_interfaces.empty())
{
// TODO(destogl): Add test for this!
RCLCPP_ERROR(
get_logger(),
"Controller '%s' is chainable, but does not export any state or reference interfaces. "
"Did you override the on_export_method() correctly?",
controller_name.c_str());
return controller_interface::return_type::ERROR;
}
}
catch (const std::exception & e)
{
RCLCPP_FATAL(
get_logger(), "Export of the state or reference interfaces failed with following error: %s",
e.what());
return controller_interface::return_type::ERROR;
}
resource_manager_->import_controller_reference_interfaces(controller_name, ref_interfaces);
resource_manager_->import_controller_exported_state_interfaces(
controller_name, state_interfaces);
}
// let's update the list of following and preceding controllers
const auto cmd_itfs = controller->command_interface_configuration().names;
const auto state_itfs = controller->state_interface_configuration().names;
for (const auto & cmd_itf : cmd_itfs)
{
controller_manager::ControllersListIterator ctrl_it;
if (is_interface_a_chained_interface(cmd_itf, controllers, ctrl_it))
{
add_element_to_list(
controller_chain_spec_[controller_name].following_controllers, ctrl_it->info.name);
add_element_to_list(
controller_chain_spec_[ctrl_it->info.name].preceding_controllers, controller_name);
add_element_to_list(
controller_chained_reference_interfaces_cache_[ctrl_it->info.name], controller_name);
}
}
// This is needed when we start exporting the state interfaces from the controllers
for (const auto & state_itf : state_itfs)
{
controller_manager::ControllersListIterator ctrl_it;
if (is_interface_a_chained_interface(state_itf, controllers, ctrl_it))
{
add_element_to_list(
controller_chain_spec_[controller_name].preceding_controllers, ctrl_it->info.name);
add_element_to_list(
controller_chain_spec_[ctrl_it->info.name].following_controllers, controller_name);
add_element_to_list(
controller_chained_state_interfaces_cache_[ctrl_it->info.name], controller_name);