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saikishorsaikishor
authored
Merge branch 'master' into isolate/start_stop_interfaces
2 parents f0dcfc1 + 7fba025 commit 7452006

32 files changed

+398
-268
lines changed

‎.pre-commit-config.yaml

+3-3
Original file line numberDiff line numberDiff line change
@@ -56,14 +56,14 @@ repos:
5656
args: ["--line-length=99"]
5757

5858
- repo: https://github.com/pycqa/flake8
59-
rev: 7.1.2
59+
rev: 7.2.0
6060
hooks:
6161
- id: flake8
6262
args: ["--extend-ignore=E501"]
6363

6464
# CPP hooks
6565
- repo: https://github.com/pre-commit/mirrors-clang-format
66-
rev: v19.1.7
66+
rev: v20.1.0
6767
hooks:
6868
- id: clang-format
6969
args: ['-fallback-style=none', '-i']
@@ -133,7 +133,7 @@ repos:
133133
exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
134134

135135
- repo: https://github.com/python-jsonschema/check-jsonschema
136-
rev: 0.31.2
136+
rev: 0.32.1
137137
hooks:
138138
- id: check-github-workflows
139139
args: ["--verbose"]

‎controller_interface/src/chainable_controller_interface.cpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -247,8 +247,9 @@ ChainableControllerInterface::on_export_reference_interfaces()
247247
std::vector<hardware_interface::CommandInterface> reference_interfaces;
248248
for (size_t i = 0; i < exported_reference_interface_names_.size(); ++i)
249249
{
250-
reference_interfaces.emplace_back(hardware_interface::CommandInterface(
251-
get_node()->get_name(), exported_reference_interface_names_[i], &reference_interfaces_[i]));
250+
reference_interfaces.emplace_back(
251+
hardware_interface::CommandInterface(
252+
get_node()->get_name(), exported_reference_interface_names_[i], &reference_interfaces_[i]));
252253
}
253254
return reference_interfaces;
254255
}

‎controller_interface/test/test_chainable_controller_interface.hpp

+6-4
Original file line numberDiff line numberDiff line change
@@ -71,8 +71,9 @@ class TestableChainableControllerInterface
7171
{
7272
std::vector<hardware_interface::StateInterface> state_interfaces;
7373

74-
state_interfaces.push_back(hardware_interface::StateInterface(
75-
name_prefix_of_interfaces_, "test_state", &state_interfaces_values_[0]));
74+
state_interfaces.push_back(
75+
hardware_interface::StateInterface(
76+
name_prefix_of_interfaces_, "test_state", &state_interfaces_values_[0]));
7677

7778
return state_interfaces;
7879
}
@@ -82,8 +83,9 @@ class TestableChainableControllerInterface
8283
{
8384
std::vector<hardware_interface::CommandInterface> command_interfaces;
8485

85-
command_interfaces.push_back(hardware_interface::CommandInterface(
86-
name_prefix_of_interfaces_, "test_itf", &reference_interfaces_[0]));
86+
command_interfaces.push_back(
87+
hardware_interface::CommandInterface(
88+
name_prefix_of_interfaces_, "test_itf", &reference_interfaces_[0]));
8789

8890
return command_interfaces;
8991
}

‎controller_interface/test/test_force_torque_sensor.cpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -39,9 +39,10 @@ TEST_F(ForceTorqueSensorTest, validate_all_with_default_names)
3939
ASSERT_EQ(force_torque_sensor_->state_interfaces_.capacity(), size_);
4040

4141
// validate the default interface_names_
42-
ASSERT_TRUE(std::equal(
43-
force_torque_sensor_->interface_names_.begin(), force_torque_sensor_->interface_names_.end(),
44-
full_interface_names_.begin(), full_interface_names_.end()));
42+
ASSERT_TRUE(
43+
std::equal(
44+
force_torque_sensor_->interface_names_.begin(), force_torque_sensor_->interface_names_.end(),
45+
full_interface_names_.begin(), full_interface_names_.end()));
4546

4647
// get the interface names
4748
std::vector<std::string> interface_names = force_torque_sensor_->get_state_interface_names();

‎controller_interface/test/test_imu_sensor.cpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -38,9 +38,10 @@ TEST_F(IMUSensorTest, validate_all)
3838
ASSERT_EQ(imu_sensor_->state_interfaces_.capacity(), size_);
3939

4040
// validate the default interface_names_
41-
ASSERT_TRUE(std::equal(
42-
imu_sensor_->interface_names_.begin(), imu_sensor_->interface_names_.end(),
43-
full_interface_names_.begin(), full_interface_names_.end()));
41+
ASSERT_TRUE(
42+
std::equal(
43+
imu_sensor_->interface_names_.begin(), imu_sensor_->interface_names_.end(),
44+
full_interface_names_.begin(), full_interface_names_.end()));
4445

4546
// get the interface names
4647
std::vector<std::string> interface_names = imu_sensor_->get_state_interface_names();

‎controller_interface/test/test_led_rgb_device.cpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -38,9 +38,10 @@ TEST_F(LedDeviceTest, validate_all)
3838
ASSERT_EQ(led_device_->command_interfaces_.capacity(), size_);
3939

4040
// Validate default interface_names_
41-
EXPECT_TRUE(std::equal(
42-
led_device_->interface_names_.cbegin(), led_device_->interface_names_.cend(),
43-
full_cmd_interface_names_.cbegin(), full_cmd_interface_names_.cend()));
41+
EXPECT_TRUE(
42+
std::equal(
43+
led_device_->interface_names_.cbegin(), led_device_->interface_names_.cend(),
44+
full_cmd_interface_names_.cbegin(), full_cmd_interface_names_.cend()));
4445

4546
// Get interface names
4647
std::vector<std::string> interface_names = led_device_->get_command_interface_names();

‎controller_interface/test/test_pose_sensor.cpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -36,9 +36,10 @@ TEST_F(PoseSensorTest, validate_all)
3636
ASSERT_EQ(pose_sensor_->state_interfaces_.capacity(), size_);
3737

3838
// Validate default interface_names_
39-
EXPECT_TRUE(std::equal(
40-
pose_sensor_->interface_names_.cbegin(), pose_sensor_->interface_names_.cend(),
41-
full_interface_names_.cbegin(), full_interface_names_.cend()));
39+
EXPECT_TRUE(
40+
std::equal(
41+
pose_sensor_->interface_names_.cbegin(), pose_sensor_->interface_names_.cend(),
42+
full_interface_names_.cbegin(), full_interface_names_.cend()));
4243

4344
// Get interface names
4445
std::vector<std::string> interface_names = pose_sensor_->get_state_interface_names();

‎controller_interface/test/test_semantic_component_command_interface.cpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -71,7 +71,8 @@ TEST_F(SemanticCommandInterfaceTest, validate_command_interfaces)
7171
ASSERT_EQ(semantic_component_->command_interfaces_.size(), 0u);
7272

7373
// validate that release_interfaces() does not touch interface_names_
74-
ASSERT_TRUE(std::equal(
75-
semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
76-
interface_names.begin(), interface_names.end()));
74+
ASSERT_TRUE(
75+
std::equal(
76+
semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
77+
interface_names.begin(), interface_names.end()));
7778
}

‎controller_interface/test/test_semantic_component_interface.cpp

+8-6
Original file line numberDiff line numberDiff line change
@@ -67,9 +67,10 @@ TEST_F(SemanticComponentInterfaceTest, validate_custom_names)
6767

6868
// validate the interface_names_
6969
std::vector<std::string> interface_names = semantic_component_->get_state_interface_names();
70-
ASSERT_TRUE(std::equal(
71-
semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
72-
interface_names.begin(), interface_names.end()));
70+
ASSERT_TRUE(
71+
std::equal(
72+
semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
73+
interface_names.begin(), interface_names.end()));
7374

7475
ASSERT_EQ(interface_names.size(), size_);
7576
ASSERT_EQ(interface_names[0], semantic_component_->test_name_ + "/i5");
@@ -129,7 +130,8 @@ TEST_F(SemanticComponentInterfaceTest, validate_state_interfaces)
129130
ASSERT_EQ(semantic_component_->state_interfaces_.size(), 0u);
130131

131132
// validate that release_interfaces() does not touch interface_names_
132-
ASSERT_TRUE(std::equal(
133-
semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
134-
interface_names.begin(), interface_names.end()));
133+
ASSERT_TRUE(
134+
std::equal(
135+
semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
136+
interface_names.begin(), interface_names.end()));
135137
}

‎controller_manager/src/controller_manager.cpp

+9-6
Original file line numberDiff line numberDiff line change
@@ -388,8 +388,9 @@ ControllerManager::ControllerManager(
388388
: rclcpp::Node(manager_node_name, node_namespace, options),
389389
diagnostics_updater_(this),
390390
executor_(executor),
391-
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
392-
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
391+
loader_(
392+
std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
393+
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
393394
chainable_loader_(
394395
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
395396
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
@@ -408,8 +409,9 @@ ControllerManager::ControllerManager(
408409
: rclcpp::Node(manager_node_name, node_namespace, options),
409410
diagnostics_updater_(this),
410411
executor_(executor),
411-
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
412-
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
412+
loader_(
413+
std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
414+
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
413415
chainable_loader_(
414416
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
415417
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
@@ -430,8 +432,9 @@ ControllerManager::ControllerManager(
430432
resource_manager_(std::move(resource_manager)),
431433
diagnostics_updater_(this),
432434
executor_(executor),
433-
loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
434-
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
435+
loader_(
436+
std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
437+
kControllerInterfaceNamespace, kControllerInterfaceClassName)),
435438
chainable_loader_(
436439
std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
437440
kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),

‎controller_manager/test/test_chainable_controller/test_chainable_controller.cpp

+6-4
Original file line numberDiff line numberDiff line change
@@ -189,8 +189,9 @@ TestChainableController::on_export_state_interfaces()
189189

190190
for (size_t i = 0; i < exported_state_interface_names_.size(); ++i)
191191
{
192-
state_interfaces.push_back(hardware_interface::StateInterface(
193-
get_node()->get_name(), exported_state_interface_names_[i], &state_interfaces_values_[i]));
192+
state_interfaces.push_back(
193+
hardware_interface::StateInterface(
194+
get_node()->get_name(), exported_state_interface_names_[i], &state_interfaces_values_[i]));
194195
}
195196

196197
return state_interfaces;
@@ -203,8 +204,9 @@ TestChainableController::on_export_reference_interfaces()
203204

204205
for (size_t i = 0; i < reference_interface_names_.size(); ++i)
205206
{
206-
reference_interfaces.push_back(hardware_interface::CommandInterface(
207-
get_node()->get_name(), reference_interface_names_[i], &reference_interfaces_[i]));
207+
reference_interfaces.push_back(
208+
hardware_interface::CommandInterface(
209+
get_node()->get_name(), reference_interface_names_[i], &reference_interfaces_[i]));
208210
}
209211

210212
return reference_interfaces;

‎controller_manager/test/test_controller_manager_hardware_error_handling.cpp

+9-6
Original file line numberDiff line numberDiff line change
@@ -198,24 +198,27 @@ TEST_P(TestControllerManagerWithTestableCM, check_cached_controllers_for_hardwar
198198
auto controllers =
199199
cm_->resource_manager_->get_cached_controllers_to_hardware(TEST_ACTUATOR_HARDWARE_NAME);
200200
ASSERT_THAT(
201-
controllers, testing::UnorderedElementsAreArray(std::vector<std::string>(
202-
{TEST_CONTROLLER_ACTUATOR_NAME, TEST_BROADCASTER_ALL_NAME})));
201+
controllers,
202+
testing::UnorderedElementsAreArray(
203+
std::vector<std::string>({TEST_CONTROLLER_ACTUATOR_NAME, TEST_BROADCASTER_ALL_NAME})));
203204
}
204205

205206
{
206207
auto controllers =
207208
cm_->resource_manager_->get_cached_controllers_to_hardware(TEST_SYSTEM_HARDWARE_NAME);
208209
ASSERT_THAT(
209-
controllers, testing::UnorderedElementsAreArray(std::vector<std::string>(
210-
{TEST_CONTROLLER_SYSTEM_NAME, TEST_BROADCASTER_ALL_NAME})));
210+
controllers,
211+
testing::UnorderedElementsAreArray(
212+
std::vector<std::string>({TEST_CONTROLLER_SYSTEM_NAME, TEST_BROADCASTER_ALL_NAME})));
211213
}
212214

213215
{
214216
auto controllers =
215217
cm_->resource_manager_->get_cached_controllers_to_hardware(TEST_SENSOR_HARDWARE_NAME);
216218
ASSERT_THAT(
217-
controllers, testing::UnorderedElementsAreArray(std::vector<std::string>(
218-
{TEST_BROADCASTER_SENSOR_NAME, TEST_BROADCASTER_ALL_NAME})));
219+
controllers,
220+
testing::UnorderedElementsAreArray(
221+
std::vector<std::string>({TEST_BROADCASTER_SENSOR_NAME, TEST_BROADCASTER_ALL_NAME})));
219222
}
220223
}
221224

‎controller_manager/test/test_hardware_management_srvs.cpp

+8-6
Original file line numberDiff line numberDiff line change
@@ -66,12 +66,14 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
6666
run_updater_ = false;
6767

6868
SetUpSrvsCMExecutor();
69-
cm_->set_parameter(rclcpp::Parameter(
70-
"hardware_components_initial_state.unconfigured",
71-
std::vector<std::string>({TEST_SYSTEM_HARDWARE_NAME})));
72-
cm_->set_parameter(rclcpp::Parameter(
73-
"hardware_components_initial_state.inactive",
74-
std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME})));
69+
cm_->set_parameter(
70+
rclcpp::Parameter(
71+
"hardware_components_initial_state.unconfigured",
72+
std::vector<std::string>({TEST_SYSTEM_HARDWARE_NAME})));
73+
cm_->set_parameter(
74+
rclcpp::Parameter(
75+
"hardware_components_initial_state.inactive",
76+
std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME})));
7577

7678
std::this_thread::sleep_for(std::chrono::milliseconds(100));
7779
auto msg = std_msgs::msg::String();

‎controller_manager/test/test_hardware_spawner.cpp

+7-5
Original file line numberDiff line numberDiff line change
@@ -152,9 +152,10 @@ class TestHardwareSpawnerWithoutRobotDescription
152152
: ControllerManagerFixture<controller_manager::ControllerManager>(""),
153153
RMServiceCaller(TEST_CM_NAME)
154154
{
155-
cm_->set_parameter(rclcpp::Parameter(
156-
"hardware_components_initial_state.unconfigured",
157-
std::vector<std::string>{"TestSystemHardware"}));
155+
cm_->set_parameter(
156+
rclcpp::Parameter(
157+
"hardware_components_initial_state.unconfigured",
158+
std::vector<std::string>{"TestSystemHardware"}));
158159
}
159160

160161
public:
@@ -272,8 +273,9 @@ TEST_F(TestHardwareSpawnerWithNamespacedCM, set_component_to_configured_state_cm
272273
256)
273274
<< "Should fail without defining the namespace";
274275
EXPECT_EQ(
275-
call_spawner("TestSystemHardware --configure -c test_controller_manager --ros-args -r "
276-
"__ns:=/foo_namespace"),
276+
call_spawner(
277+
"TestSystemHardware --configure -c test_controller_manager --ros-args -r "
278+
"__ns:=/foo_namespace"),
277279
0);
278280

279281
EXPECT_EQ(

‎controller_manager/test/test_spawner_unspawner.cpp

+23-6
Original file line numberDiff line numberDiff line change
@@ -290,8 +290,9 @@ TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter)
290290
const std::string test_file_path =
291291
std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
292292

293-
cm_->set_parameter(rclcpp::Parameter(
294-
"ctrl_with_parameters_and_type.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
293+
cm_->set_parameter(
294+
rclcpp::Parameter(
295+
"ctrl_with_parameters_and_type.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
295296
cm_->set_parameter(
296297
rclcpp::Parameter("ctrl_with_parameters_and_type.params_file", test_file_path));
297298

@@ -811,8 +812,9 @@ TEST_F(TestLoadController, test_spawner_parsed_controller_ros_args)
811812

812813
// Now test the remapping of the service name with the controller_ros_args
813814
EXPECT_EQ(
814-
call_spawner(
815-
"ctrl_2 -c test_controller_manager --controller-ros-args '-r /ctrl_2/set_bool:=/set_bool'"),
815+
call_spawner("ctrl_2 -c test_controller_manager --controller-ros-args '-r "
816+
"/ctrl_2/set_bool:=/set_bool' --controller-ros-args '--param "
817+
"run_cycle:=20 -p test_cycle:=-11.0'"),
816818
0);
817819

818820
ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul);
@@ -825,6 +827,20 @@ TEST_F(TestLoadController, test_spawner_parsed_controller_ros_args)
825827
node->create_client<example_interfaces::srv::SetBool>("/ctrl_2/set_bool");
826828
ASSERT_FALSE(ctrl_2_set_bool_service->wait_for_service(std::chrono::seconds(2)));
827829
ASSERT_FALSE(ctrl_2_set_bool_service->service_is_ready());
830+
831+
// Check the parameter run_cycle to have the right value
832+
ASSERT_EQ("ctrl_2", cm_->get_loaded_controllers()[0].info.name);
833+
auto ctrl_2 = cm_->get_loaded_controllers()[0].c->get_node();
834+
if (!ctrl_2->has_parameter("run_cycle"))
835+
{
836+
ctrl_2->declare_parameter("run_cycle", -200);
837+
}
838+
ASSERT_THAT(ctrl_2->get_parameter("run_cycle").as_int(), 20);
839+
if (!ctrl_2->has_parameter("test_cycle"))
840+
{
841+
ctrl_2->declare_parameter("test_cycle", 1231.0);
842+
}
843+
ASSERT_THAT(ctrl_2->get_parameter("test_cycle").as_double(), -11.0);
828844
}
829845

830846
class TestLoadControllerWithoutRobotDescription
@@ -1044,8 +1060,9 @@ TEST_F(TestLoadControllerWithNamespacedCM, multi_ctrls_test_type_in_param)
10441060
EXPECT_EQ(call_unspawner("ctrl_1 ctrl_2 ctrl_3 -c /foo_namespace/test_controller_manager"), 0);
10451061
ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul) << "Controller should have been unloaded";
10461062
EXPECT_EQ(
1047-
call_spawner("ctrl_1 ctrl_2 ctrl_3 -c test_controller_manager --activate-as-group --ros-args "
1048-
"-r __ns:=/foo_namespace"),
1063+
call_spawner(
1064+
"ctrl_1 ctrl_2 ctrl_3 -c test_controller_manager --activate-as-group --ros-args "
1065+
"-r __ns:=/foo_namespace"),
10491066
0);
10501067
ASSERT_EQ(cm_->get_loaded_controllers().size(), 3ul) << "Controller should have been loaded";
10511068
{

‎hardware_interface/include/hardware_interface/actuator_interface.hpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -92,8 +92,9 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
9292
{
9393
public:
9494
ActuatorInterface()
95-
: lifecycle_state_(rclcpp_lifecycle::State(
96-
lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
95+
: lifecycle_state_(
96+
rclcpp_lifecycle::State(
97+
lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
9798
actuator_logger_(rclcpp::get_logger("actuator_interface"))
9899
{
99100
}

‎hardware_interface/include/hardware_interface/sensor_interface.hpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -76,8 +76,9 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
7676
{
7777
public:
7878
SensorInterface()
79-
: lifecycle_state_(rclcpp_lifecycle::State(
80-
lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
79+
: lifecycle_state_(
80+
rclcpp_lifecycle::State(
81+
lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
8182
sensor_logger_(rclcpp::get_logger("sensor_interface"))
8283
{
8384
}

‎hardware_interface/include/hardware_interface/system_interface.hpp

+3-2
Original file line numberDiff line numberDiff line change
@@ -96,8 +96,9 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
9696
{
9797
public:
9898
SystemInterface()
99-
: lifecycle_state_(rclcpp_lifecycle::State(
100-
lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
99+
: lifecycle_state_(
100+
rclcpp_lifecycle::State(
101+
lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
101102
system_logger_(rclcpp::get_logger("system_interface"))
102103
{
103104
}

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