From f885b01be0d08cd11dd5ced3485c57d9ccb52067 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 21 Feb 2023 10:05:14 +0100 Subject: [PATCH 01/38] added reference_names and modified cmd and state joint names param --- .../ros2_control/controller/dummy_controller.yaml | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/templates/ros2_control/controller/dummy_controller.yaml b/templates/ros2_control/controller/dummy_controller.yaml index 84351bf9..c6c98c5e 100644 --- a/templates/ros2_control/controller/dummy_controller.yaml +++ b/templates/ros2_control/controller/dummy_controller.yaml @@ -1,5 +1,5 @@ dummy_controller: - joints: { + command_joint_names: { type: string_array, default_value: [], description: "Specifies joints used by the controller. If state joints parameter is defined, then only command joints are defined with this parameter.", @@ -9,7 +9,7 @@ dummy_controller: not_empty<>: null, } } - state_joints: { + state_joint_names: { type: string_array, default_value: [], description: "(optional) Specifies joints for reading states. This parameter is only relevant when state joints are different then command joint, i.e., when a following controller is used.", @@ -29,3 +29,12 @@ dummy_controller: forbidden_interface_name_prefix: null } } + reference_names: { + type: string_array, + default_value: [], + description: " Names of the references, ex: high level vel commands from MoveIt, Nav2, etc. + Note: reference_names is intended to use in special cases only where reference names are not obvious. + For example 2D mobile robot with references linear_x, linear_y and angular_z is obvious case, + a custom robot that has custom references for the controller. A BETTER EXAMPLE HAS TO BE INCLUDED", + read_only: true, + } From c7b2e7f76fe57afd3f745b069a45d94b1fb2d8c8 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 21 Feb 2023 10:06:15 +0100 Subject: [PATCH 02/38] updated .cpp and .hpp from mecanum --- .../controller/dummy_chainable_controller.cpp | 75 ++++++++++++------- .../dummy_chainable_controller.hpp | 13 +++- 2 files changed, 58 insertions(+), 30 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index abc32a0b..460899fe 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -41,8 +41,10 @@ using ControllerReferenceMsg = dummy_package_namespace::DummyClassName::Controll // called from RT control loop void reset_controller_reference_msg( - const std::shared_ptr & msg, const std::vector & joint_names) + const std::shared_ptr & msg, const std::vector & joint_names + const std::shared_ptr & node) { + msg->header.stamp = node->now(); msg->joint_names = joint_names; msg->displacements.resize(joint_names.size(), std::numeric_limits::quiet_NaN()); msg->velocities.resize(joint_names.size(), std::numeric_limits::quiet_NaN()); @@ -74,17 +76,17 @@ controller_interface::CallbackReturn DummyClassName::on_configure( { params_ = param_listener_->get_params(); - if (!params_.state_joints.empty()) { - state_joints_ = params_.state_joints; + if (!params_.state_joint_names.empty()) { + state_joint_names_ = params_.state_joint_names; } else { - state_joints_ = params_.joints; + state_joint_names_ = params_.command_joint_names; } - if (params_.joints.size() != state_joints_.size()) { + if (params_.command_joint_names.size() != state_joint_names_.size()) { RCLCPP_FATAL( get_node()->get_logger(), - "Size of 'joints' (%d) and 'state_joints' (%d) parameters has to be the same!", - params_.joints.size(), state_joints_.size()); + "Size of 'command_joint_names' (%d) and 'state_joint_names' (%d) parameters has to be the same!", + params_.command_joint_names.size(), state_joint_names_.size()); return CallbackReturn::FAILURE; } @@ -99,7 +101,7 @@ controller_interface::CallbackReturn DummyClassName::on_configure( std::bind(&DummyClassName::reference_callback, this, std::placeholders::_1)); std::shared_ptr msg = std::make_shared(); - reset_controller_reference_msg(msg, params_.joints); + reset_controller_reference_msg(msg, params_.command_joint_names); input_ref_.writeFromNonRT(msg); auto set_slow_mode_service_callback = @@ -132,7 +134,7 @@ controller_interface::CallbackReturn DummyClassName::on_configure( // TODO(anyone): Reserve memory in state publisher depending on the message type state_publisher_->lock(); - state_publisher_->msg_.header.frame_id = params_.joints[0]; + state_publisher_->msg_.header.frame_id = params_.command_joint_names[0]; state_publisher_->unlock(); RCLCPP_INFO(get_node()->get_logger(), "configure successful"); @@ -144,8 +146,8 @@ controller_interface::InterfaceConfiguration DummyClassName::command_interface_c controller_interface::InterfaceConfiguration command_interfaces_config; command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; - command_interfaces_config.names.reserve(params_.joints.size()); - for (const auto & joint : params_.joints) { + command_interfaces_config.names.reserve(params_.command_joint_names.size()); + for (const auto & joint : params_.command_joint_names) { command_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } @@ -157,8 +159,8 @@ controller_interface::InterfaceConfiguration DummyClassName::state_interface_con controller_interface::InterfaceConfiguration state_interfaces_config; state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; - state_interfaces_config.names.reserve(state_joints_.size()); - for (const auto & joint : state_joints_) { + state_interfaces_config.names.reserve(state_joint_names_.size()); + for (const auto & joint : state_joint_names_) { state_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } @@ -167,26 +169,38 @@ controller_interface::InterfaceConfiguration DummyClassName::state_interface_con void DummyClassName::reference_callback(const std::shared_ptr msg) { - if (msg->joint_names.size() == params_.joints.size()) { + // if no timestamp provided use current time for command timestamp + if (msg->header.stamp.sec == 0 && msg->header.stamp.nanosec == 0u) + { + RCLCPP_WARN( + get_node()->get_logger(), + "Timestamp in header is missing, using current time as command " + "timestamp."); + msg->header.stamp = get_node()->now(); + } + if (msg->joint_names.size() == params_.command_joint_names.size()) { input_ref_.writeFromNonRT(msg); } else { RCLCPP_ERROR( get_node()->get_logger(), - "Received %zu , but expected %zu joints in command. Ignoring message.", - msg->joint_names.size(), params_.joints.size()); + "Received %zu , but expected %zu command_joint_names in command. Ignoring message.", + msg->joint_names.size(), params_.command_joint_names.size()); } } std::vector DummyClassName::on_export_reference_interfaces() { - reference_interfaces_.resize(state_joints_.size(), std::numeric_limits::quiet_NaN()); + reference_interfaces_.resize(NR_REF_ITFS, std::numeric_limits::quiet_NaN()); std::vector reference_interfaces; reference_interfaces.reserve(reference_interfaces_.size()); + std::vector reference_interface_names = { + "linear/x/velocity", "linear/y/velocity", "angular/z/velocity"}; + for (size_t i = 0; i < reference_interfaces_.size(); ++i) { reference_interfaces.push_back(hardware_interface::CommandInterface( - get_node()->get_name(), state_joints_[i] + "/" + params_.interface_name, + get_node()->get_name(), reference_interface_names[i], &reference_interfaces_[i])); } @@ -203,7 +217,7 @@ controller_interface::CallbackReturn DummyClassName::on_activate( const rclcpp_lifecycle::State & /*previous_state*/) { // Set default value in command - reset_controller_reference_msg(*(input_ref_.readFromRT()), state_joints_); + reset_controller_reference_msg(*(input_ref_.readFromRT()), state_joint_names_, get_node()); return controller_interface::CallbackReturn::SUCCESS; } @@ -211,9 +225,9 @@ controller_interface::CallbackReturn DummyClassName::on_activate( controller_interface::CallbackReturn DummyClassName::on_deactivate( const rclcpp_lifecycle::State & /*previous_state*/) { - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, // instead of a loop - for (size_t i = 0; i < command_interfaces_.size(); ++i) { + for (size_t i = 0; i < NR_CMD_ITFS; ++i) { command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN()); } return controller_interface::CallbackReturn::SUCCESS; @@ -223,9 +237,9 @@ controller_interface::return_type DummyClassName::update_reference_from_subscrib { auto current_ref = input_ref_.readFromRT(); - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, // instead of a loop - for (size_t i = 0; i < reference_interfaces_.size(); ++i) { + for (size_t i = 0; i < NR_REF_ITFS; ++i) { if (!std::isnan((*current_ref)->displacements[i])) { reference_interfaces_[i] = (*current_ref)->displacements[i]; @@ -238,9 +252,9 @@ controller_interface::return_type DummyClassName::update_reference_from_subscrib controller_interface::return_type DummyClassName::update_and_write_commands( const rclcpp::Time & time, const rclcpp::Duration & /*period*/) { - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, // instead of a loop - for (size_t i = 0; i < command_interfaces_.size(); ++i) { + for (size_t i = 0; i < NR_CMD_ITFS; ++i) { if (!std::isnan(reference_interfaces_[i])) { if (*(control_mode_.readFromRT()) == control_mode_type::SLOW) { reference_interfaces_[i] /= 2; @@ -249,15 +263,22 @@ controller_interface::return_type DummyClassName::update_and_write_commands( reference_interfaces_[i] = std::numeric_limits::quiet_NaN(); } + else + { + command_interfaces_[i].set_value(0.0); + } } if (state_publisher_ && state_publisher_->trylock()) { state_publisher_->msg_.header.stamp = time; - state_publisher_->msg_.set_point = command_interfaces_[CMD_MY_ITFS].get_value(); + state_publisher_->msg_.set_point = command_interfaces_[NR_CMD_ITFS].get_value(); state_publisher_->unlockAndPublish(); } + for (size_t i = 0; i < NR_REF_ITFS; ++i) { + reference_interfaces_[i] = std::numeric_limits::quiet_NaN(); + } return controller_interface::return_type::OK; } diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp index 53dd4d18..53e33d26 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp @@ -35,10 +35,13 @@ namespace dummy_package_namespace { // name constants for state interfaces -static constexpr size_t STATE_MY_ITFS = 0; +static constexpr size_t NR_STATE_ITFS = 0; // name constants for command interfaces -static constexpr size_t CMD_MY_ITFS = 0; +static constexpr size_t NR_CMD_ITFS = 0; + +// name constants for reference interfaces +static constexpr size_t NR_REF_ITFS = 0; // TODO(anyone: example setup for control mode (usually you will use some enums defined in messages) enum class control_mode_type : std::uint8_t { @@ -89,7 +92,11 @@ class DummyClassName : public controller_interface::ChainableControllerInterface std::shared_ptr param_listener_; dummy_controller::Params params_; - std::vector state_joints_; + std::vector state_joint_names; + + // Names of the references, ex: high level vel commands from MoveIt, Nav2, etc. + // used for preceding controller + std::vector reference_names_; // Command subscribers and Controller State publisher rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; From 4bacc37b6cd5bf75e06dd36e5acfd900f530ca88 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 21 Feb 2023 10:16:23 +0100 Subject: [PATCH 03/38] update yaml --- .../ros2_control/controller/dummy_controller_params.yaml | 2 +- .../controller/dummy_controller_preceeding_params.yaml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/templates/ros2_control/controller/dummy_controller_params.yaml b/templates/ros2_control/controller/dummy_controller_params.yaml index 69c14224..13fefb5f 100644 --- a/templates/ros2_control/controller/dummy_controller_params.yaml +++ b/templates/ros2_control/controller/dummy_controller_params.yaml @@ -1,7 +1,7 @@ test_dummy_controller: ros__parameters: - joints: + command_joint_names: - joint1 interface_name: acceleration diff --git a/templates/ros2_control/controller/dummy_controller_preceeding_params.yaml b/templates/ros2_control/controller/dummy_controller_preceeding_params.yaml index 006570af..59814e10 100644 --- a/templates/ros2_control/controller/dummy_controller_preceeding_params.yaml +++ b/templates/ros2_control/controller/dummy_controller_preceeding_params.yaml @@ -1,9 +1,9 @@ test_dummy_controller: ros__parameters: - joints: + command_joint_names: - joint1 interface_name: acceleration - state_joints: + state_joint_names: - joint1state From 418af78071b35a316dc05e685fa9d2a093a8ae78 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 21 Feb 2023 10:17:11 +0100 Subject: [PATCH 04/38] update test preceeding load --- .../test_dummy_controller_preceeding.cpp | 24 ++++++++++--------- .../controller/test_load_dummy_controller.cpp | 2 +- 2 files changed, 14 insertions(+), 12 deletions(-) diff --git a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp index a3bc99ce..e9e4fc5c 100644 --- a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp +++ b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -20,31 +20,33 @@ #include #include -using dummy_package_namespace::CMD_MY_ITFS; +using dummy_package_namespace::NR_CMD_ITFS; +using dummy_package_namespace::NR_REF_ITFS; +using dummy_package_namespace::NR_STATE_ITFS; using dummy_package_namespace::control_mode_type; -using dummy_package_namespace::STATE_MY_ITFS; + class DummyClassNameTest : public DummyClassNameFixture { }; -TEST_F(DummyClassNameTest, all_parameters_set_configure_success) +TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_set) { SetUpController(); - ASSERT_TRUE(controller_->params_.joints.empty()); - ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_TRUE(controller_->params_.command_joint_names.empty()); + ASSERT_TRUE(controller_->params_.state_joint_names.empty()); ASSERT_TRUE(controller_->params_.interface_name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); - ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); - ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); + ASSERT_THAT(controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); + ASSERT_THAT(controller_->params_.state_joint_names, testing::ElementsAreArray(state_joint_names_)); + ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); } -TEST_F(DummyClassNameTest, check_exported_intefaces) +TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_interfaces) { SetUpController(); @@ -53,7 +55,7 @@ TEST_F(DummyClassNameTest, check_exported_intefaces) auto command_intefaces = controller_->command_interface_configuration(); ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); for (size_t i = 0; i < command_intefaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(command_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } auto state_intefaces = controller_->state_interface_configuration(); diff --git a/templates/ros2_control/controller/test_load_dummy_controller.cpp b/templates/ros2_control/controller/test_load_dummy_controller.cpp index e1ea359c..00b340a7 100644 --- a/templates/ros2_control/controller/test_load_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_load_dummy_controller.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. From cca54cd6429bb6dde5d67a721bd6771259cb58be Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 21 Feb 2023 13:33:21 +0100 Subject: [PATCH 05/38] update test.hpp --- .../test_dummy_chainable_controller.hpp | 30 ++++++++++--------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index ace3db7b..2141b931 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -48,14 +48,16 @@ constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; // subclassing and friending so we can access member variables class TestableDummyClassName : public dummy_package_namespace::DummyClassName { - FRIEND_TEST(DummyClassNameTest, all_parameters_set_configure_success); - FRIEND_TEST(DummyClassNameTest, activate_success); - FRIEND_TEST(DummyClassNameTest, reactivate_success); - FRIEND_TEST(DummyClassNameTest, test_setting_slow_mode_service); - FRIEND_TEST(DummyClassNameTest, test_update_logic_fast); - FRIEND_TEST(DummyClassNameTest, test_update_logic_slow); - FRIEND_TEST(DummyClassNameTest, test_update_logic_chainable_fast); - FRIEND_TEST(DummyClassNameTest, test_update_logic_chainable_slow); + FRIEND_TEST(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_set); + FRIEND_TEST(DummyClassNameTest, when_controller_configured_expect_properly_exported_interfaces); + FRIEND_TEST(DummyClassNameTest, when_controller_is_activated_expect_reference_reset); + FRIEND_TEST(DummyClassNameTest, when_controller_active_and_update_called_expect_success); + FRIEND_TEST(DummyClassNameTest, when_active_controller_is_deactivated_expect_success); + FRIEND_TEST(DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success); + FRIEND_TEST(DummyClassNameTest, when_update_is_called_expect_status_message); + FRIEND_TEST(DummyClassNameTest, when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time); + FRIEND_TEST(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set); + FRIEND_TEST(DummyClassNameTest, when_controller_in_chainable_mode_expect_receiving_commands_from_reference_interfaces_directly); public: controller_interface::CallbackReturn on_configure( @@ -121,7 +123,7 @@ class DummyClassNameFixture : public ::testing::Test command_publisher_node_ = std::make_shared("command_publisher"); command_publisher_ = command_publisher_node_->create_publisher( - "/test_dummy_controller/commands", rclcpp::SystemDefaultsQoS()); + "/test_dummy_controller/reference", rclcpp::SystemDefaultsQoS()); service_caller_node_ = std::make_shared("service_caller"); slow_control_service_client_ = service_caller_node_->create_client( @@ -143,7 +145,7 @@ class DummyClassNameFixture : public ::testing::Test for (size_t i = 0; i < joint_command_values_.size(); ++i) { command_itfs_.emplace_back(hardware_interface::CommandInterface( - joint_names_[i], interface_name_, &joint_command_values_[i])); + command_joint_names_[i], interface_name_, &joint_command_values_[i])); command_ifs.emplace_back(command_itfs_.back()); } // TODO(anyone): Add other command interfaces, if any @@ -154,7 +156,7 @@ class DummyClassNameFixture : public ::testing::Test for (size_t i = 0; i < joint_state_values_.size(); ++i) { state_itfs_.emplace_back(hardware_interface::StateInterface( - joint_names_[i], interface_name_, &joint_state_values_[i])); + command_joint_names_[i], interface_name_, &joint_state_values_[i])); state_ifs.emplace_back(state_itfs_.back()); } // TODO(anyone): Add other state interfaces, if any @@ -216,7 +218,7 @@ class DummyClassNameFixture : public ::testing::Test wait_for_topic(command_publisher_->get_topic_name()); ControllerReferenceMsg msg; - msg.joint_names = joint_names_; + msg.joint_names = command_joint_names_; msg.displacements = displacements; msg.velocities = velocities; msg.duration = duration; @@ -246,7 +248,7 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): adjust the members as needed // Controller-related parameters - std::vector joint_names_ = {"joint1"}; + std::vector command_joint_names_ = {"joint1"}; std::vector state_joint_names_ = {"joint1state"}; std::string interface_name_ = "acceleration"; std::array joint_state_values_ = {1.1}; From 06550cf55146f6d8a399ccc013daaab30655bc83 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 21 Feb 2023 15:46:15 +0100 Subject: [PATCH 06/38] updated tests in templates --- .../controller/dummy_chainable_controller.cpp | 2 +- .../test_dummy_chainable_controller.cpp | 269 ++++++++++++------ .../test_dummy_chainable_controller.hpp | 25 +- 3 files changed, 195 insertions(+), 101 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 460899fe..2caf8560 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -123,7 +123,7 @@ controller_interface::CallbackReturn DummyClassName::on_configure( try { // State publisher s_publisher_ = - get_node()->create_publisher("~/state", rclcpp::SystemDefaultsQoS()); + get_node()->create_publisher("~/controller_state", rclcpp::SystemDefaultsQoS()); state_publisher_ = std::make_unique(s_publisher_); } catch (const std::exception & e) { fprintf( diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 7a835ae0..6237d587 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -20,31 +20,34 @@ #include #include -using dummy_package_namespace::CMD_MY_ITFS; +using dummy_package_namespace::NR_CMD_ITFS; +using dummy_package_namespace::NR_REF_ITFS; +using dummy_package_namespace::NR_STATE_ITFS; + using dummy_package_namespace::control_mode_type; -using dummy_package_namespace::STATE_MY_ITFS; + class DummyClassNameTest : public DummyClassNameFixture { }; -TEST_F(DummyClassNameTest, all_parameters_set_configure_success) +TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_set) { SetUpController(); - ASSERT_TRUE(controller_->params_.joints.empty()); - ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_TRUE(controller_->params_.command_joint_names.empty()); + ASSERT_TRUE(controller_->params_.state_joint_names.empty()); ASSERT_TRUE(controller_->params_.interface_name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); - ASSERT_TRUE(controller_->params_.state_joints.empty()); - ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); + ASSERT_THAT(controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); + ASSERT_TRUE(controller_->params_.state_joint_names.empty()); + ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(command_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); } -TEST_F(DummyClassNameTest, check_exported_intefaces) +TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_interfaces) { SetUpController(); @@ -53,29 +56,29 @@ TEST_F(DummyClassNameTest, check_exported_intefaces) auto command_intefaces = controller_->command_interface_configuration(); ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); for (size_t i = 0; i < command_intefaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(command_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } auto state_intefaces = controller_->state_interface_configuration(); ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); for (size_t i = 0; i < state_intefaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(state_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } // check ref itfs auto reference_interfaces = controller_->export_reference_interfaces(); - ASSERT_EQ(reference_interfaces.size(), joint_names_.size()); - for (size_t i = 0; i < joint_names_.size(); ++i) { - const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + - joint_names_[i] + "/" + interface_name_; + ASSERT_EQ(reference_interfaces.size(), NR_REF_ITFS); + for (size_t i = 0; i < reference_interface_names.size(); ++i) { + const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + + std::string("/") + reference_interface_names[i]; EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); EXPECT_EQ( - reference_interfaces[i].get_interface_name(), joint_names_[i] + "/" + interface_name_); + reference_interfaces[i].get_interface_name(), reference_interface_names[i]); } } -TEST_F(DummyClassNameTest, activate_success) +TEST_F(DummyClassNameTest, when_controller_is_activated_expect_reference_reset) { SetUpController(); @@ -84,24 +87,24 @@ TEST_F(DummyClassNameTest, activate_success) // check that the message is reset auto msg = controller_->input_ref_.readFromNonRT(); - EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); + EXPECT_EQ((*msg)->displacements.size(), command_joint_names_.size()); for (const auto & cmd : (*msg)->displacements) { EXPECT_TRUE(std::isnan(cmd)); } - EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); + EXPECT_EQ((*msg)->velocities.size(), command_joint_names_.size()); for (const auto & cmd : (*msg)->velocities) { EXPECT_TRUE(std::isnan(cmd)); } ASSERT_TRUE(std::isnan((*msg)->duration)); - EXPECT_EQ(controller_->reference_interfaces_.size(), joint_names_.size()); + EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); for (const auto & interface : controller_->reference_interfaces_) { EXPECT_TRUE(std::isnan(interface)); } } -TEST_F(DummyClassNameTest, update_success) +TEST_F(DummyClassNameTest, when_controller_active_and_update_called_expect_success) { SetUpController(); @@ -109,11 +112,11 @@ TEST_F(DummyClassNameTest, update_success) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); } -TEST_F(DummyClassNameTest, deactivate_success) +TEST_F(DummyClassNameTest, when_active_controller_is_deactivated_expect_success) { SetUpController(); @@ -122,24 +125,41 @@ TEST_F(DummyClassNameTest, deactivate_success) ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); } -TEST_F(DummyClassNameTest, reactivate_success) +TEST_F(DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); + ASSERT_EQ(controller_->command_interfaces_[NR_CMD_ITFS].get_value(), 101.101); ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS].get_value())); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS].get_value())); ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); } -TEST_F(DummyClassNameTest, test_setting_slow_mode_service) +// when update is called expect the previously set reference before calling update, +// inside the controller state message +TEST_F(DummyClassNameTest, when_update_is_called_expect_status_message) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + controller_->reference_interfaces_[0] = 1.5; + + ControllerStateMsg msg; + subscribe_to_controller_status_execute_update_and_get_messages(msg); + + EXPECT_EQ(msg.set_point, 1.5); +} + +TEST_F(DummyClassNameTest, when_controller_is_configured_and_activated_properly_expect_correct_setting_of_mode_service) { SetUpController(); @@ -165,7 +185,50 @@ TEST_F(DummyClassNameTest, test_setting_slow_mode_service) ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); } -TEST_F(DummyClassNameTest, test_update_logic_fast) +// reference_interfaces and command_interfaces values depend on the reference_msg, +// the below test shows two cases when reference_msg is not received and when it is received. +TEST_F( + DummyClassNameTest, + when_reference_msg_received_expect_updated_commands_and_status_message) +{ + SetUpController(); + + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + // no reference_msg sent + ASSERT_EQ( + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + ControllerStateMsg msg; + subscribe_to_controller_status_execute_update_and_get_messages(msg); + + ASSERT_EQ(msg.set_point, 101.101); + joint_command_values_[0] = TEST_DISPLACEMENT; + + // reference_callback() is implicitly called when publish_commands() is called + // reference_msg is published with provided time stamp when publish_commands( time_stamp) + // is called + publish_commands(controller_->get_node()->now()); + ASSERT_TRUE(controller_->wait_for_commands(executor)); + + ASSERT_EQ( + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); + + // EXPLAIN WHY THE BELOW EQUALITY IS VALID + // depends on how command_interface values are set inside update methods + EXPECT_EQ(joint_command_values_[0], 0.45); + + subscribe_to_controller_status_execute_update_and_get_messages(msg); + + ASSERT_EQ(msg.set_point, 0.45); + +} + +TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for_fast_mode) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -180,27 +243,27 @@ TEST_F(DummyClassNameTest, test_update_logic_fast) // set command statically static constexpr double TEST_DISPLACEMENT = 23.24; std::shared_ptr msg = std::make_shared(); - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); + msg->joint_names = command_joint_names_; + msg->displacements.resize(command_joint_names_.size(), TEST_DISPLACEMENT); + msg->velocities.resize(command_joint_names_.size(), std::numeric_limits::quiet_NaN()); msg->duration = std::numeric_limits::quiet_NaN(); controller_->input_ref_.writeFromNonRT(msg); ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - EXPECT_EQ(controller_->reference_interfaces_.size(), joint_names_.size()); + EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); for (const auto & interface : controller_->reference_interfaces_) { EXPECT_TRUE(std::isnan(interface)); } } -TEST_F(DummyClassNameTest, test_update_logic_slow) +TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for_slow_mode) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -216,9 +279,9 @@ TEST_F(DummyClassNameTest, test_update_logic_slow) static constexpr double TEST_DISPLACEMENT = 23.24; std::shared_ptr msg = std::make_shared(); // When slow mode is enabled command ends up being half of the value - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); + msg->joint_names = command_joint_names_; + msg->displacements.resize(command_joint_names_.size(), TEST_DISPLACEMENT); + msg->velocities.resize(command_joint_names_.size(), std::numeric_limits::quiet_NaN()); msg->duration = std::numeric_limits::quiet_NaN(); controller_->input_ref_.writeFromNonRT(msg); controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); @@ -229,15 +292,15 @@ TEST_F(DummyClassNameTest, test_update_logic_slow) controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT / 2); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); - EXPECT_EQ(controller_->reference_interfaces_.size(), joint_names_.size()); + EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); for (const auto & interface : controller_->reference_interfaces_) { EXPECT_TRUE(std::isnan(interface)); } } -TEST_F(DummyClassNameTest, test_update_logic_chainable_fast) +TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -249,34 +312,40 @@ TEST_F(DummyClassNameTest, test_update_logic_chainable_fast) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_TRUE(controller_->is_in_chained_mode()); - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; - std::shared_ptr msg = std::make_shared(); - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); - msg->duration = std::numeric_limits::quiet_NaN(); - controller_->input_ref_.writeFromNonRT(msg); + for (const auto & interface : controller_->reference_interfaces_) + { + EXPECT_TRUE(std::isnan(interface)); + } + // set mode to fast + controller_->control_mode_.writeFromNonRT(control_mode_type::FAST); // this is input source in chained mode - controller_->reference_interfaces_[STATE_MY_ITFS] = TEST_DISPLACEMENT * 2; + controller_->reference_interfaces_[NR_STATE_ITFS] = TEST_DISPLACEMENT * 2; + + // reference_callback() is implicitly called when publish_commands() is called + // reference_msg is published with provided time stamp when publish_commands( time_stamp) + // is called + publish_commands(controller_->get_node()->now(),TEST_DISPLACEMENT); + + EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); + ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); // reference_interfaces is directly applied - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT * 2); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT * 2); // message is not touched in chained mode EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - EXPECT_EQ(controller_->reference_interfaces_.size(), joint_names_.size()); + EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); for (const auto & interface : controller_->reference_interfaces_) { EXPECT_TRUE(std::isnan(interface)); } } -TEST_F(DummyClassNameTest, test_update_logic_chainable_slow) +TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -288,27 +357,30 @@ TEST_F(DummyClassNameTest, test_update_logic_chainable_slow) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_TRUE(controller_->is_in_chained_mode()); - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; - std::shared_ptr msg = std::make_shared(); - // When slow mode is enabled command ends up being half of the value - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); - msg->duration = std::numeric_limits::quiet_NaN(); - controller_->input_ref_.writeFromNonRT(msg); + for (const auto & interface : controller_->reference_interfaces_) + { + EXPECT_TRUE(std::isnan(interface)); + } + + // set mode to slow controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); // this is input source in chained mode - controller_->reference_interfaces_[STATE_MY_ITFS] = TEST_DISPLACEMENT * 4; + controller_->reference_interfaces_[NR_STATE_ITFS] = TEST_DISPLACEMENT * 4; + // reference_callback() is implicitly called when publish_commands() is called + // reference_msg is published with provided time stamp when publish_commands( time_stamp) + // is called + publish_commands(controller_->get_node()->now(),TEST_DISPLACEMENT); + ASSERT_TRUE(controller_->wait_for_commands(executor)); + EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - // reference_interfaces is directly applied - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT * 2); + // reference_interfaces is directly applied / expected slow mode logic effect + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT * 2); // message is not touched in chained mode EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(controller_->reference_interfaces_.size(), joint_names_.size()); @@ -317,54 +389,65 @@ TEST_F(DummyClassNameTest, test_update_logic_chainable_slow) } } -TEST_F(DummyClassNameTest, publish_status_success) +// when time stamp is zero expect that time stamp is set to current time stamp +TEST_F( + DummyClassNameTest, + when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time) { SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); + auto reference = controller_->input_ref_.readFromNonRT(); + auto old_timestamp = (*reference)->header.stamp; + EXPECT_TRUE(std::isnan((*reference)->displacements)); - ControllerStateMsg msg; - subscribe_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 101.101); + // reference_callback() is implicitly called when publish_commands() is called + // reference_msg is published with provided time stamp when publish_commands( time_stamp) + // is called + publish_commands(controller_->get_node()->now()); + + ASSERT_TRUE(controller_->wait_for_commands(executor)); + ASSERT_EQ(old_timestamp.sec, (*(controller_->input_ref_.readFromNonRT()))->header.stamp.sec); + EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements)); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements, 0.45); + + EXPECT_NE((*(controller_->input_ref_.readFromNonRT()))->header.stamp.sec, 0.0); } -TEST_F(DummyClassNameTest, receive_message_and_publish_updated_status) +// when the reference_msg has valid timestamp then the timeout check in reference_callback() +// shall pass and reference_msg is not reset +TEST_F(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set) { SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; executor.add_node(controller_->get_node()->get_node_base_interface()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); - - ControllerStateMsg msg; - subscribe_and_get_messages(msg); + auto reference = controller_->input_ref_.readFromNonRT(); + EXPECT_TRUE(std::isnan((*reference)->displacements)); - ASSERT_EQ(msg.set_point, 101.101); + // reference_callback() is implicitly called when publish_commands() is called + // reference_msg is published with provided time stamp when publish_commands( time_stamp) + // is called + publish_commands(controller_->get_node()->now()); - publish_commands(); ASSERT_TRUE(controller_->wait_for_commands(executor)); + EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements)); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements, 0.45); + +} - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); - EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); - subscribe_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 0.45); -} int main(int argc, char ** argv) { diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index 2141b931..ef640b5a 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -55,9 +55,14 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName FRIEND_TEST(DummyClassNameTest, when_active_controller_is_deactivated_expect_success); FRIEND_TEST(DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success); FRIEND_TEST(DummyClassNameTest, when_update_is_called_expect_status_message); + FRIEND_TEST(DummyClassNameTest, when_controller_is_configured_and_activated_properly_expect_correct_setting_of_mode_service); + FRIEND_TEST(DummyClassNameTest, when_reference_msg_received_expect_updated_commands_and_status_message); + FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for_fast_mode); + FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for_slow_mode); + FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect); + FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect); FRIEND_TEST(DummyClassNameTest, when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time); FRIEND_TEST(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set); - FRIEND_TEST(DummyClassNameTest, when_controller_in_chainable_mode_expect_receiving_commands_from_reference_interfaces_directly); public: controller_interface::CallbackReturn on_configure( @@ -164,17 +169,17 @@ class DummyClassNameFixture : public ::testing::Test controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); } - void subscribe_and_get_messages(ControllerStateMsg & msg) + void subscribe_to_controller_status_execute_update_and_get_messages(ControllerStateMsg & msg) { // create a new subscriber rclcpp::Node test_subscription_node("test_subscription_node"); auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; auto subscription = test_subscription_node.create_subscription( - "/test_dummy_controller/state", 10, subs_callback); + "/test_dummy_controller/controller_state", 10, subs_callback); // call update to publish the test value ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); // call update to publish the test value @@ -182,8 +187,9 @@ class DummyClassNameFixture : public ::testing::Test int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop rclcpp::WaitSet wait_set; // block used to wait on message wait_set.add_subscription(subscription); - while (max_sub_check_loop_count--) { - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); + while (max_sub_check_loop_count--) + { + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)); // check if message has been received if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) { break; @@ -199,6 +205,7 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): add/remove arguments as it suites your command message type void publish_commands( + const rclcpp::Time & stamp, const std::vector & displacements = {0.45}, const std::vector & velocities = {0.0}, const double duration = 1.25) { @@ -218,6 +225,7 @@ class DummyClassNameFixture : public ::testing::Test wait_for_topic(command_publisher_->get_topic_name()); ControllerReferenceMsg msg; + msg.header.stamp = stamp; msg.joint_names = command_joint_names_; msg.displacements = displacements; msg.velocities = velocities; @@ -248,12 +256,15 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): adjust the members as needed // Controller-related parameters + std::vector reference_interface_names = { + "linear/x/velocity", "linear/y/velocity", "angular/z/velocity"}; std::vector command_joint_names_ = {"joint1"}; std::vector state_joint_names_ = {"joint1state"}; std::string interface_name_ = "acceleration"; std::array joint_state_values_ = {1.1}; std::array joint_command_values_ = {101.101}; - + // set command statically + static constexpr double TEST_DISPLACEMENT = 23.24; std::vector state_itfs_; std::vector command_itfs_; From e711a731f6952244b2118d165dbbd4b72ea723ce Mon Sep 17 00:00:00 2001 From: Robotgir <47585672+Robotgir@users.noreply.github.com> Date: Thu, 23 Feb 2023 20:17:33 +0100 Subject: [PATCH 07/38] Apply suggestions from code review corrections --- .../ros2_control/controller/dummy_chainable_controller.cpp | 2 +- .../ros2_control/controller/test_dummy_chainable_controller.cpp | 2 -- .../controller/test_dummy_controller_preceeding.cpp | 1 - 3 files changed, 1 insertion(+), 4 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 2caf8560..8890f990 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -146,7 +146,7 @@ controller_interface::InterfaceConfiguration DummyClassName::command_interface_c controller_interface::InterfaceConfiguration command_interfaces_config; command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; - command_interfaces_config.names.reserve(params_.command_joint_names.size()); +command_interfaces_config.names.reserve(params_.command_joint_names.size()); for (const auto & joint : params_.command_joint_names) { command_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 6237d587..c972d7cf 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -372,7 +372,6 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_slow_expect_re publish_commands(controller_->get_node()->now(),TEST_DISPLACEMENT); ASSERT_TRUE(controller_->wait_for_commands(executor)); - EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); ASSERT_EQ( @@ -442,7 +441,6 @@ TEST_F(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set ASSERT_TRUE(controller_->wait_for_commands(executor)); EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements)); EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements, 0.45); - } diff --git a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp index e9e4fc5c..473db47f 100644 --- a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp +++ b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp @@ -25,7 +25,6 @@ using dummy_package_namespace::NR_REF_ITFS; using dummy_package_namespace::NR_STATE_ITFS; using dummy_package_namespace::control_mode_type; - class DummyClassNameTest : public DummyClassNameFixture { }; From 98e5b8024d8cc57ee98c133bace878ca5fa17f48 Mon Sep 17 00:00:00 2001 From: Robotgir <47585672+Robotgir@users.noreply.github.com> Date: Fri, 24 Feb 2023 01:12:51 +0100 Subject: [PATCH 08/38] Apply suggestions from code review Co-authored-by: Dr. Denis --- templates/ros2_control/controller/dummy_controller.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/templates/ros2_control/controller/dummy_controller.yaml b/templates/ros2_control/controller/dummy_controller.yaml index c6c98c5e..ac60c82d 100644 --- a/templates/ros2_control/controller/dummy_controller.yaml +++ b/templates/ros2_control/controller/dummy_controller.yaml @@ -32,7 +32,7 @@ dummy_controller: reference_names: { type: string_array, default_value: [], - description: " Names of the references, ex: high level vel commands from MoveIt, Nav2, etc. + description: "Names of the references, ex: high level vel commands from MoveIt, Nav2, etc. Note: reference_names is intended to use in special cases only where reference names are not obvious. For example 2D mobile robot with references linear_x, linear_y and angular_z is obvious case, a custom robot that has custom references for the controller. A BETTER EXAMPLE HAS TO BE INCLUDED", From baa7cb2155a4b88a48d74332f9871bb844098cfc Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Fri, 24 Feb 2023 01:14:14 +0100 Subject: [PATCH 09/38] correction --- .../controller/dummy_chainable_controller.cpp | 30 +++++++++---------- 1 file changed, 14 insertions(+), 16 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 8890f990..5f3db34e 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -41,8 +41,9 @@ using ControllerReferenceMsg = dummy_package_namespace::DummyClassName::Controll // called from RT control loop void reset_controller_reference_msg( - const std::shared_ptr & msg, const std::vector & joint_names - const std::shared_ptr & node) + const std::shared_ptr & msg, + const std::vector & joint_names const + std::shared_ptr & node) { msg->header.stamp = node->now(); msg->joint_names = joint_names; @@ -85,7 +86,8 @@ controller_interface::CallbackReturn DummyClassName::on_configure( if (params_.command_joint_names.size() != state_joint_names_.size()) { RCLCPP_FATAL( get_node()->get_logger(), - "Size of 'command_joint_names' (%d) and 'state_joint_names' (%d) parameters has to be the same!", + "Size of 'command_joint_names' (%d) and 'state_joint_names' (%d) parameters has to be the " + "same!", params_.command_joint_names.size(), state_joint_names_.size()); return CallbackReturn::FAILURE; } @@ -122,8 +124,8 @@ controller_interface::CallbackReturn DummyClassName::on_configure( try { // State publisher - s_publisher_ = - get_node()->create_publisher("~/controller_state", rclcpp::SystemDefaultsQoS()); + s_publisher_ = get_node()->create_publisher( + "~/controller_state", rclcpp::SystemDefaultsQoS()); state_publisher_ = std::make_unique(s_publisher_); } catch (const std::exception & e) { fprintf( @@ -170,8 +172,7 @@ controller_interface::InterfaceConfiguration DummyClassName::state_interface_con void DummyClassName::reference_callback(const std::shared_ptr msg) { // if no timestamp provided use current time for command timestamp - if (msg->header.stamp.sec == 0 && msg->header.stamp.nanosec == 0u) - { + if (msg->header.stamp.sec == 0 && msg->header.stamp.nanosec == 0u) { RCLCPP_WARN( get_node()->get_logger(), "Timestamp in header is missing, using current time as command " @@ -195,13 +196,12 @@ std::vector DummyClassName::on_export_refe std::vector reference_interfaces; reference_interfaces.reserve(reference_interfaces_.size()); - std::vector reference_interface_names = { + std::vector reference_interface_names = { "linear/x/velocity", "linear/y/velocity", "angular/z/velocity"}; for (size_t i = 0; i < reference_interfaces_.size(); ++i) { reference_interfaces.push_back(hardware_interface::CommandInterface( - get_node()->get_name(), reference_interface_names[i], - &reference_interfaces_[i])); + get_node()->get_name(), reference_interface_names[i], &reference_interfaces_[i])); } return reference_interfaces; @@ -225,7 +225,7 @@ controller_interface::CallbackReturn DummyClassName::on_activate( controller_interface::CallbackReturn DummyClassName::on_deactivate( const rclcpp_lifecycle::State & /*previous_state*/) { - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop for (size_t i = 0; i < NR_CMD_ITFS; ++i) { command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN()); @@ -237,7 +237,7 @@ controller_interface::return_type DummyClassName::update_reference_from_subscrib { auto current_ref = input_ref_.readFromRT(); - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop for (size_t i = 0; i < NR_REF_ITFS; ++i) { if (!std::isnan((*current_ref)->displacements[i])) { @@ -252,7 +252,7 @@ controller_interface::return_type DummyClassName::update_reference_from_subscrib controller_interface::return_type DummyClassName::update_and_write_commands( const rclcpp::Time & time, const rclcpp::Duration & /*period*/) { - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop for (size_t i = 0; i < NR_CMD_ITFS; ++i) { if (!std::isnan(reference_interfaces_[i])) { @@ -262,9 +262,7 @@ controller_interface::return_type DummyClassName::update_and_write_commands( command_interfaces_[i].set_value(reference_interfaces_[i]); reference_interfaces_[i] = std::numeric_limits::quiet_NaN(); - } - else - { + } else { command_interfaces_[i].set_value(0.0); } } From 7510fcaa8ff4786bd647a2b7ca9f406f01b263e1 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Fri, 24 Feb 2023 02:51:27 +0100 Subject: [PATCH 10/38] corrections --- .../controller/dummy_chainable_controller.cpp | 6 ++--- .../dummy_chainable_controller.hpp | 2 +- .../test_dummy_chainable_controller.cpp | 16 ++++++------ .../test_dummy_chainable_controller.hpp | 1 + ..._dummy_chainable_controller_preceeding.cpp | 26 +++++++++---------- .../controller/test_load_dummy_controller.cpp | 2 +- 6 files changed, 27 insertions(+), 26 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 5f3db34e..f0e225a1 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -42,8 +42,8 @@ using ControllerReferenceMsg = dummy_package_namespace::DummyClassName::Controll // called from RT control loop void reset_controller_reference_msg( const std::shared_ptr & msg, - const std::vector & joint_names const - std::shared_ptr & node) + const std::vector & joint_names, + const std::shared_ptr & node) { msg->header.stamp = node->now(); msg->joint_names = joint_names; @@ -103,7 +103,7 @@ controller_interface::CallbackReturn DummyClassName::on_configure( std::bind(&DummyClassName::reference_callback, this, std::placeholders::_1)); std::shared_ptr msg = std::make_shared(); - reset_controller_reference_msg(msg, params_.command_joint_names); + reset_controller_reference_msg(msg, params_.command_joint_names, get_node()); input_ref_.writeFromNonRT(msg); auto set_slow_mode_service_callback = diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp index 53e33d26..0c8b07a2 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp @@ -92,7 +92,7 @@ class DummyClassName : public controller_interface::ChainableControllerInterface std::shared_ptr param_listener_; dummy_controller::Params params_; - std::vector state_joint_names; + std::vector state_joint_names_; // Names of the references, ex: high level vel commands from MoveIt, Nav2, etc. // used for preceding controller diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index c972d7cf..344f11ea 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -43,7 +43,7 @@ TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_s ASSERT_THAT(controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); ASSERT_TRUE(controller_->params_.state_joint_names.empty()); - ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(command_joint_names_)); + ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); } @@ -382,7 +382,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_slow_expect_re EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT * 2); // message is not touched in chained mode EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); - EXPECT_EQ(controller_->reference_interfaces_.size(), joint_names_.size()); + EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); for (const auto & interface : controller_->reference_interfaces_) { EXPECT_TRUE(std::isnan(interface)); } @@ -402,7 +402,7 @@ TEST_F( auto reference = controller_->input_ref_.readFromNonRT(); auto old_timestamp = (*reference)->header.stamp; - EXPECT_TRUE(std::isnan((*reference)->displacements)); + EXPECT_TRUE(std::isnan((*reference)->displacements[0])); // reference_callback() is implicitly called when publish_commands() is called @@ -412,8 +412,8 @@ TEST_F( ASSERT_TRUE(controller_->wait_for_commands(executor)); ASSERT_EQ(old_timestamp.sec, (*(controller_->input_ref_.readFromNonRT()))->header.stamp.sec); - EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements)); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements, 0.45); + EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements[0], 0.45); EXPECT_NE((*(controller_->input_ref_.readFromNonRT()))->header.stamp.sec, 0.0); } @@ -431,7 +431,7 @@ TEST_F(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); auto reference = controller_->input_ref_.readFromNonRT(); - EXPECT_TRUE(std::isnan((*reference)->displacements)); + EXPECT_TRUE(std::isnan((*reference)->displacements[0])); // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) @@ -439,8 +439,8 @@ TEST_F(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set publish_commands(controller_->get_node()->now()); ASSERT_TRUE(controller_->wait_for_commands(executor)); - EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements)); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements, 0.45); + EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements[0], 0.45); } diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index ef640b5a..edd10b08 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -63,6 +63,7 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect); FRIEND_TEST(DummyClassNameTest, when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time); FRIEND_TEST(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set); + FRIEND_TEST(DummyClassNameTest, when_loading_controller_expect_no_exception); public: controller_interface::CallbackReturn on_configure( diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp index d953cfc6..b6c1f8dd 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -20,31 +20,31 @@ #include #include -using dummy_package_namespace::CMD_MY_ITFS; +using dummy_package_namespace::NR_CMD_ITFS; using dummy_package_namespace::control_mode_type; -using dummy_package_namespace::STATE_MY_ITFS; +using dummy_package_namespace::NR_STATE_ITFS; class DummyClassNameTest : public DummyClassNameFixture { }; -TEST_F(DummyClassNameTest, all_parameters_set_configure_success) +TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_set) { SetUpController(); - ASSERT_TRUE(controller_->params_.joints.empty()); - ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_TRUE(controller_->params_.command_joint_names.empty()); + ASSERT_TRUE(controller_->params_.state_joint_names.empty()); ASSERT_TRUE(controller_->params_.interface_name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); - ASSERT_THAT(controller_->params_.state_joints, testing::ElementsAreArray(state_joint_names_)); - ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(state_joint_names_)); + ASSERT_THAT(controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); + ASSERT_THAT(controller_->params_.state_joint_names, testing::ElementsAreArray(state_joint_names_)); + ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); } -TEST_F(DummyClassNameTest, check_exported_intefaces) +TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_interfaces) { SetUpController(); @@ -53,7 +53,7 @@ TEST_F(DummyClassNameTest, check_exported_intefaces) auto command_intefaces = controller_->command_interface_configuration(); ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); for (size_t i = 0; i < command_intefaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(command_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } auto state_intefaces = controller_->state_interface_configuration(); @@ -64,8 +64,8 @@ TEST_F(DummyClassNameTest, check_exported_intefaces) // check ref itfs auto reference_interfaces = controller_->export_reference_interfaces(); - ASSERT_EQ(reference_interfaces.size(), joint_names_.size()); - for (size_t i = 0; i < joint_names_.size(); ++i) { + ASSERT_EQ(reference_interfaces.size(), command_joint_names_.size()); + for (size_t i = 0; i < command_joint_names_.size(); ++i) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + state_joint_names_[i] + "/" + interface_name_; EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); diff --git a/templates/ros2_control/controller/test_load_dummy_controller.cpp b/templates/ros2_control/controller/test_load_dummy_controller.cpp index 00b340a7..d74290de 100644 --- a/templates/ros2_control/controller/test_load_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_load_dummy_controller.cpp @@ -22,7 +22,7 @@ #include "rclcpp/utilities.hpp" #include "ros2_control_test_assets/descriptions.hpp" -TEST(TestLoadDummyClassName, load_controller) +TEST(TestLoadDummyClassName, when_loading_controller_expect_no_exception) { rclcpp::init(0, nullptr); From b4e62b81124ee2c40103e36b7e0a7234aadf617c Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Fri, 24 Feb 2023 02:54:02 +0100 Subject: [PATCH 11/38] corrections --- .../controller/dummy_chainable_controller.cpp | 5 +- .../dummy_chainable_controller.hpp | 2 +- .../test_dummy_chainable_controller.cpp | 46 +++++++++---------- .../test_dummy_chainable_controller.hpp | 28 +++++++---- ..._dummy_chainable_controller_preceeding.cpp | 8 ++-- 5 files changed, 47 insertions(+), 42 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index f0e225a1..5033cb20 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -41,8 +41,7 @@ using ControllerReferenceMsg = dummy_package_namespace::DummyClassName::Controll // called from RT control loop void reset_controller_reference_msg( - const std::shared_ptr & msg, - const std::vector & joint_names, + const std::shared_ptr & msg, const std::vector & joint_names, const std::shared_ptr & node) { msg->header.stamp = node->now(); @@ -148,7 +147,7 @@ controller_interface::InterfaceConfiguration DummyClassName::command_interface_c controller_interface::InterfaceConfiguration command_interfaces_config; command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; -command_interfaces_config.names.reserve(params_.command_joint_names.size()); + command_interfaces_config.names.reserve(params_.command_joint_names.size()); for (const auto & joint : params_.command_joint_names) { command_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp index 0c8b07a2..9b9ce99f 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp @@ -93,7 +93,7 @@ class DummyClassName : public controller_interface::ChainableControllerInterface dummy_controller::Params params_; std::vector state_joint_names_; - + // Names of the references, ex: high level vel commands from MoveIt, Nav2, etc. // used for preceding controller std::vector reference_names_; diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 344f11ea..6df7a517 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -26,7 +26,6 @@ using dummy_package_namespace::NR_STATE_ITFS; using dummy_package_namespace::control_mode_type; - class DummyClassNameTest : public DummyClassNameFixture { }; @@ -41,7 +40,8 @@ TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_s ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); + ASSERT_THAT( + controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); ASSERT_TRUE(controller_->params_.state_joint_names.empty()); ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); @@ -70,11 +70,10 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i ASSERT_EQ(reference_interfaces.size(), NR_REF_ITFS); for (size_t i = 0; i < reference_interface_names.size(); ++i) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + - std::string("/") + reference_interface_names[i]; + std::string("/") + reference_interface_names[i]; EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ( - reference_interfaces[i].get_interface_name(), reference_interface_names[i]); + EXPECT_EQ(reference_interfaces[i].get_interface_name(), reference_interface_names[i]); } } @@ -125,7 +124,8 @@ TEST_F(DummyClassNameTest, when_active_controller_is_deactivated_expect_success) ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); } -TEST_F(DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success) +TEST_F( + DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success) { SetUpController(); @@ -159,7 +159,9 @@ TEST_F(DummyClassNameTest, when_update_is_called_expect_status_message) EXPECT_EQ(msg.set_point, 1.5); } -TEST_F(DummyClassNameTest, when_controller_is_configured_and_activated_properly_expect_correct_setting_of_mode_service) +TEST_F( + DummyClassNameTest, + when_controller_is_configured_and_activated_properly_expect_correct_setting_of_mode_service) { SetUpController(); @@ -187,9 +189,7 @@ TEST_F(DummyClassNameTest, when_controller_is_configured_and_activated_properly_ // reference_interfaces and command_interfaces values depend on the reference_msg, // the below test shows two cases when reference_msg is not received and when it is received. -TEST_F( - DummyClassNameTest, - when_reference_msg_received_expect_updated_commands_and_status_message) +TEST_F(DummyClassNameTest, when_reference_msg_received_expect_updated_commands_and_status_message) { SetUpController(); @@ -225,7 +225,6 @@ TEST_F( subscribe_to_controller_status_execute_update_and_get_messages(msg); ASSERT_EQ(msg.set_point, 0.45); - } TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for_fast_mode) @@ -300,7 +299,9 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for } } -TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect) +TEST_F( + DummyClassNameTest, + when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -312,8 +313,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_fast_expect_re ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_TRUE(controller_->is_in_chained_mode()); - for (const auto & interface : controller_->reference_interfaces_) - { + for (const auto & interface : controller_->reference_interfaces_) { EXPECT_TRUE(std::isnan(interface)); } // set mode to fast @@ -321,10 +321,10 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_fast_expect_re // this is input source in chained mode controller_->reference_interfaces_[NR_STATE_ITFS] = TEST_DISPLACEMENT * 2; - // reference_callback() is implicitly called when publish_commands() is called + // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) // is called - publish_commands(controller_->get_node()->now(),TEST_DISPLACEMENT); + publish_commands(controller_->get_node()->now(), TEST_DISPLACEMENT); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); @@ -345,7 +345,9 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_fast_expect_re } } -TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect) +TEST_F( + DummyClassNameTest, + when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -357,8 +359,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_slow_expect_re ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_TRUE(controller_->is_in_chained_mode()); - for (const auto & interface : controller_->reference_interfaces_) - { + for (const auto & interface : controller_->reference_interfaces_) { EXPECT_TRUE(std::isnan(interface)); } @@ -369,7 +370,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_chainable_and_slow_expect_re // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) // is called - publish_commands(controller_->get_node()->now(),TEST_DISPLACEMENT); + publish_commands(controller_->get_node()->now(), TEST_DISPLACEMENT); ASSERT_TRUE(controller_->wait_for_commands(executor)); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); @@ -404,7 +405,6 @@ TEST_F( auto old_timestamp = (*reference)->header.stamp; EXPECT_TRUE(std::isnan((*reference)->displacements[0])); - // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) // is called @@ -443,10 +443,6 @@ TEST_F(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements[0], 0.45); } - - - - int main(int argc, char ** argv) { ::testing::InitGoogleTest(&argc, argv); diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index edd10b08..eb86bc87 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -53,15 +53,25 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName FRIEND_TEST(DummyClassNameTest, when_controller_is_activated_expect_reference_reset); FRIEND_TEST(DummyClassNameTest, when_controller_active_and_update_called_expect_success); FRIEND_TEST(DummyClassNameTest, when_active_controller_is_deactivated_expect_success); - FRIEND_TEST(DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success); + FRIEND_TEST( + DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success); FRIEND_TEST(DummyClassNameTest, when_update_is_called_expect_status_message); - FRIEND_TEST(DummyClassNameTest, when_controller_is_configured_and_activated_properly_expect_correct_setting_of_mode_service); - FRIEND_TEST(DummyClassNameTest, when_reference_msg_received_expect_updated_commands_and_status_message); + FRIEND_TEST( + DummyClassNameTest, + when_controller_is_configured_and_activated_properly_expect_correct_setting_of_mode_service); + FRIEND_TEST( + DummyClassNameTest, when_reference_msg_received_expect_updated_commands_and_status_message); FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for_fast_mode); FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for_slow_mode); - FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect); - FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect); - FRIEND_TEST(DummyClassNameTest, when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time); + FRIEND_TEST( + DummyClassNameTest, + when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect); + FRIEND_TEST( + DummyClassNameTest, + when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect); + FRIEND_TEST( + DummyClassNameTest, + when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time); FRIEND_TEST(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set); FRIEND_TEST(DummyClassNameTest, when_loading_controller_expect_no_exception); @@ -188,8 +198,7 @@ class DummyClassNameFixture : public ::testing::Test int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop rclcpp::WaitSet wait_set; // block used to wait on message wait_set.add_subscription(subscription); - while (max_sub_check_loop_count--) - { + while (max_sub_check_loop_count--) { controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)); // check if message has been received if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) { @@ -206,8 +215,7 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): add/remove arguments as it suites your command message type void publish_commands( - const rclcpp::Time & stamp, - const std::vector & displacements = {0.45}, + const rclcpp::Time & stamp, const std::vector & displacements = {0.45}, const std::vector & velocities = {0.0}, const double duration = 1.25) { auto wait_for_topic = [&](const auto topic_name) { diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp index b6c1f8dd..5669f23b 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp @@ -20,8 +20,8 @@ #include #include -using dummy_package_namespace::NR_CMD_ITFS; using dummy_package_namespace::control_mode_type; +using dummy_package_namespace::NR_CMD_ITFS; using dummy_package_namespace::NR_STATE_ITFS; class DummyClassNameTest : public DummyClassNameFixture @@ -38,8 +38,10 @@ TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_s ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); - ASSERT_THAT(controller_->params_.state_joint_names, testing::ElementsAreArray(state_joint_names_)); + ASSERT_THAT( + controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); + ASSERT_THAT( + controller_->params_.state_joint_names, testing::ElementsAreArray(state_joint_names_)); ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); } From de291d4748dcebf597a203308cc7b1b9e592c5ac Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Fri, 24 Feb 2023 03:03:40 +0100 Subject: [PATCH 12/38] correction --- .../controller/test_dummy_chainable_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 6df7a517..d91b4847 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -324,7 +324,7 @@ TEST_F( // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) // is called - publish_commands(controller_->get_node()->now(), TEST_DISPLACEMENT); + publish_commands(controller_->get_node()->now(), {TEST_DISPLACEMENT}); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); @@ -370,7 +370,7 @@ TEST_F( // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) // is called - publish_commands(controller_->get_node()->now(), TEST_DISPLACEMENT); + publish_commands(controller_->get_node()->now(), {TEST_DISPLACEMENT}); ASSERT_TRUE(controller_->wait_for_commands(executor)); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::SLOW); From 82550f778bd84dc1435232f028941b5ec1bc339b Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Fri, 24 Feb 2023 03:10:59 +0100 Subject: [PATCH 13/38] ran pre-commit --- templates/ros2_control/controller/dummy_controller.yaml | 2 +- .../controller/test_dummy_chainable_controller.cpp | 6 ++++-- .../controller/test_dummy_chainable_controller.hpp | 6 ++++-- .../controller/test_dummy_controller_preceeding.cpp | 8 +++++--- 4 files changed, 14 insertions(+), 8 deletions(-) diff --git a/templates/ros2_control/controller/dummy_controller.yaml b/templates/ros2_control/controller/dummy_controller.yaml index ac60c82d..0854d530 100644 --- a/templates/ros2_control/controller/dummy_controller.yaml +++ b/templates/ros2_control/controller/dummy_controller.yaml @@ -32,7 +32,7 @@ dummy_controller: reference_names: { type: string_array, default_value: [], - description: "Names of the references, ex: high level vel commands from MoveIt, Nav2, etc. + description: "Names of the references, ex: high level vel commands from MoveIt, Nav2, etc. Note: reference_names is intended to use in special cases only where reference names are not obvious. For example 2D mobile robot with references linear_x, linear_y and angular_z is obvious case, a custom robot that has custom references for the controller. A BETTER EXAMPLE HAS TO BE INCLUDED", diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index d91b4847..6114897f 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -301,7 +301,8 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for TEST_F( DummyClassNameTest, - when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect) + when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces + _directly_with_fast_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -347,7 +348,8 @@ TEST_F( TEST_F( DummyClassNameTest, - when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect) + when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces + _directly_with_slow_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index eb86bc87..188dda0b 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -65,10 +65,12 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for_slow_mode); FRIEND_TEST( DummyClassNameTest, - when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect); + when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces + _directly_with_fast_mode_logic_effect); FRIEND_TEST( DummyClassNameTest, - when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect); + when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces + _directly_with_slow_mode_logic_effect); FRIEND_TEST( DummyClassNameTest, when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time); diff --git a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp index 473db47f..36c0e65e 100644 --- a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp +++ b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp @@ -20,10 +20,10 @@ #include #include +using dummy_package_namespace::control_mode_type; using dummy_package_namespace::NR_CMD_ITFS; using dummy_package_namespace::NR_REF_ITFS; using dummy_package_namespace::NR_STATE_ITFS; -using dummy_package_namespace::control_mode_type; class DummyClassNameTest : public DummyClassNameFixture { @@ -39,8 +39,10 @@ TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_s ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); - ASSERT_THAT(controller_->params_.state_joint_names, testing::ElementsAreArray(state_joint_names_)); + ASSERT_THAT( + controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); + ASSERT_THAT( + controller_->params_.state_joint_names, testing::ElementsAreArray(state_joint_names_)); ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); } From f5c327ff22f67e3346bb1930c7a97138674dd0b5 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 14 Mar 2023 13:17:38 +0100 Subject: [PATCH 14/38] added missing test when wrong num of joints --- .../test_dummy_chainable_controller.cpp | 26 +++++++++++++++++++ .../test_dummy_chainable_controller.hpp | 1 + 2 files changed, 27 insertions(+) diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 6114897f..54581632 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -77,6 +77,32 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i } } +// when assigned wrong num of joints then expect in-equality between set values and storage +TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_reset) +{ + SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + auto reference = controller_->input_ref_.readFromNonRT(); + auto old_timestamp = (*reference)->header.stamp; + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), joint_names_.size()); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], joint_names_[0]); + EXPECT_TRUE(std::isnan((*reference)->displacements[0])); + EXPECT_TRUE(std::isnan((*reference)->velocities[0])); + EXPECT_TRUE(std::isnan((*reference)->duration)); + publish_commands(controller_->get_node()->now(), {"joint1", "joint2"}); + ASSERT_TRUE(controller_->wait_for_commands(executor)); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), joint_names_.size()); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], joint_names_[0]); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->velocities[0])); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->duration)); +} + TEST_F(DummyClassNameTest, when_controller_is_activated_expect_reference_reset) { SetUpController(); diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index 188dda0b..fd271c03 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -50,6 +50,7 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName { FRIEND_TEST(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_set); FRIEND_TEST(DummyClassNameTest, when_controller_configured_expect_properly_exported_interfaces); + FRIEND_TEST(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_reset); FRIEND_TEST(DummyClassNameTest, when_controller_is_activated_expect_reference_reset); FRIEND_TEST(DummyClassNameTest, when_controller_active_and_update_called_expect_success); FRIEND_TEST(DummyClassNameTest, when_active_controller_is_deactivated_expect_success); From 20ceb876681e1fdc608402df7ffbb321a8133177 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 14 Mar 2023 17:15:27 +0100 Subject: [PATCH 15/38] adjusting .hpp w.r.t chainable .hpp --- .../controller/test_dummy_controller.hpp | 39 +++++++++++-------- 1 file changed, 22 insertions(+), 17 deletions(-) diff --git a/templates/ros2_control/controller/test_dummy_controller.hpp b/templates/ros2_control/controller/test_dummy_controller.hpp index 741e0a8e..dbee16bd 100644 --- a/templates/ros2_control/controller/test_dummy_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_controller.hpp @@ -47,12 +47,15 @@ constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; // subclassing and friending so we can access member variables class TestableDummyClassName : public dummy_package_namespace::DummyClassName { - FRIEND_TEST(DummyClassNameTest, all_parameters_set_configure_success); - FRIEND_TEST(DummyClassNameTest, activate_success); - FRIEND_TEST(DummyClassNameTest, reactivate_success); - FRIEND_TEST(DummyClassNameTest, test_setting_slow_mode_service); - FRIEND_TEST(DummyClassNameTest, test_update_logic_fast); - FRIEND_TEST(DummyClassNameTest, test_update_logic_slow); + FRIEND_TEST(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_set); + FRIEND_TEST(DummyClassNameTest, when_controller_is_activated_expect_reference_reset); + FRIEND_TEST( + DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success); + FRIEND_TEST( + DummyClassNameTest, + when_controller_is_configured_and_activated_properly_expect_correct_setting_of_mode_service); + FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for_fast_mode); + FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for_slow_mode); public: controller_interface::CallbackReturn on_configure( @@ -111,7 +114,7 @@ class DummyClassNameFixture : public ::testing::Test command_publisher_node_ = std::make_shared("command_publisher"); command_publisher_ = command_publisher_node_->create_publisher( - "/test_dummy_controller/commands", rclcpp::SystemDefaultsQoS()); + "/test_dummy_controller/reference", rclcpp::SystemDefaultsQoS()); service_caller_node_ = std::make_shared("service_caller"); slow_control_service_client_ = service_caller_node_->create_client( @@ -133,7 +136,7 @@ class DummyClassNameFixture : public ::testing::Test for (size_t i = 0; i < joint_command_values_.size(); ++i) { command_itfs_.emplace_back(hardware_interface::CommandInterface( - joint_names_[i], interface_name_, &joint_command_values_[i])); + command_joint_names_[i], interface_name_, &joint_command_values_[i])); command_ifs.emplace_back(command_itfs_.back()); } // TODO(anyone): Add other command interfaces, if any @@ -144,7 +147,7 @@ class DummyClassNameFixture : public ::testing::Test for (size_t i = 0; i < joint_state_values_.size(); ++i) { state_itfs_.emplace_back(hardware_interface::StateInterface( - joint_names_[i], interface_name_, &joint_state_values_[i])); + command_joint_names_[i], interface_name_, &joint_state_values_[i])); state_ifs.emplace_back(state_itfs_.back()); } // TODO(anyone): Add other state interfaces, if any @@ -152,17 +155,17 @@ class DummyClassNameFixture : public ::testing::Test controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs)); } - void subscribe_and_get_messages(ControllerStateMsg & msg) + void subscribe_to_controller_status_execute_update_and_get_messages(ControllerStateMsg & msg) { // create a new subscriber rclcpp::Node test_subscription_node("test_subscription_node"); auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {}; auto subscription = test_subscription_node.create_subscription( - "/test_dummy_controller/state", 10, subs_callback); + "/test_dummy_controller/controller_state", 10, subs_callback); // call update to publish the test value ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); // call update to publish the test value @@ -171,7 +174,7 @@ class DummyClassNameFixture : public ::testing::Test rclcpp::WaitSet wait_set; // block used to wait on message wait_set.add_subscription(subscription); while (max_sub_check_loop_count--) { - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)); + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)); // check if message has been received if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) { break; @@ -187,7 +190,7 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): add/remove arguments as it suites your command message type void publish_commands( - const std::vector & displacements = {0.45}, + const rclcpp::Time & stamp, const std::vector & displacements = {0.45}, const std::vector & velocities = {0.0}, const double duration = 1.25) { auto wait_for_topic = [&](const auto topic_name) { @@ -206,7 +209,8 @@ class DummyClassNameFixture : public ::testing::Test wait_for_topic(command_publisher_->get_topic_name()); ControllerReferenceMsg msg; - msg.joint_names = joint_names_; + msg.header.stamp = stamp; + msg.joint_names = command_joint_names_; msg.displacements = displacements; msg.velocities = velocities; msg.duration = duration; @@ -236,12 +240,13 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): adjust the members as needed // Controller-related parameters - std::vector joint_names_ = {"joint1"}; + std::vector command_joint_names_ = {"joint1"}; std::vector state_joint_names_ = {"joint1state"}; std::string interface_name_ = "acceleration"; std::array joint_state_values_ = {1.1}; std::array joint_command_values_ = {101.101}; - + // set command statically + static constexpr double TEST_DISPLACEMENT = 23.24; std::vector state_itfs_; std::vector command_itfs_; From 2fd0dca1ea4f317ac6bfd44bf13843525c2007ef Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 14 Mar 2023 17:53:54 +0100 Subject: [PATCH 16/38] updated regular controller with renaming tests and improvements from mecanum --- .../controller/test_dummy_controller.cpp | 158 +++++++++++------- .../controller/test_dummy_controller.hpp | 7 + 2 files changed, 107 insertions(+), 58 deletions(-) diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 57b2ea7a..2dbfc03c 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -20,31 +20,34 @@ #include #include -using dummy_package_namespace::CMD_MY_ITFS; +using dummy_package_namespace::NR_CMD_ITFS; +using dummy_package_namespace::NR_REF_ITFS; +using dummy_package_namespace::NR_STATE_ITFS; + using dummy_package_namespace::control_mode_type; -using dummy_package_namespace::STATE_MY_ITFS; class DummyClassNameTest : public DummyClassNameFixture { }; -TEST_F(DummyClassNameTest, all_parameters_set_configure_success) +TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_set) { SetUpController(); - ASSERT_TRUE(controller_->params_.joints.empty()); - ASSERT_TRUE(controller_->params_.state_joints.empty()); + ASSERT_TRUE(controller_->params_.command_joint_names.empty()); + ASSERT_TRUE(controller_->params_.state_joint_names.empty()); ASSERT_TRUE(controller_->params_.interface_name.empty()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_THAT(controller_->params_.joints, testing::ElementsAreArray(joint_names_)); - ASSERT_TRUE(controller_->params_.state_joints.empty()); - ASSERT_THAT(controller_->state_joints_, testing::ElementsAreArray(joint_names_)); + ASSERT_THAT( + controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); + ASSERT_TRUE(controller_->params_.state_joint_names.empty()); + ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); } -TEST_F(DummyClassNameTest, check_exported_intefaces) +TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_interfaces) { SetUpController(); @@ -53,17 +56,43 @@ TEST_F(DummyClassNameTest, check_exported_intefaces) auto command_intefaces = controller_->command_interface_configuration(); ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); for (size_t i = 0; i < command_intefaces.names.size(); ++i) { - EXPECT_EQ(command_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(command_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } auto state_intefaces = controller_->state_interface_configuration(); ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); for (size_t i = 0; i < state_intefaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(state_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } } -TEST_F(DummyClassNameTest, activate_success) +// when assigned wrong num of joints then expect in-equality between set values and storage +TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_reset) +{ + SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + + auto reference = controller_->input_ref_.readFromNonRT(); + auto old_timestamp = (*reference)->header.stamp; + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), joint_names_.size()); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], joint_names_[0]); + EXPECT_TRUE(std::isnan((*reference)->displacements[0])); + EXPECT_TRUE(std::isnan((*reference)->velocities[0])); + EXPECT_TRUE(std::isnan((*reference)->duration)); + publish_commands(controller_->get_node()->now(), {"joint1", "joint2"}); + ASSERT_TRUE(controller_->wait_for_commands(executor)); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), joint_names_.size()); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], joint_names_[0]); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->velocities[0])); + EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->duration)); +} + +TEST_F(DummyClassNameTest, when_controller_is_activated_expect_reference_reset) { SetUpController(); @@ -72,11 +101,11 @@ TEST_F(DummyClassNameTest, activate_success) // check that the message is reset auto msg = controller_->input_ref_.readFromNonRT(); - EXPECT_EQ((*msg)->displacements.size(), joint_names_.size()); + EXPECT_EQ((*msg)->displacements.size(), command_joint_names_.size()); for (const auto & cmd : (*msg)->displacements) { EXPECT_TRUE(std::isnan(cmd)); } - EXPECT_EQ((*msg)->velocities.size(), joint_names_.size()); + EXPECT_EQ((*msg)->velocities.size(), command_joint_names_.size()); for (const auto & cmd : (*msg)->velocities) { EXPECT_TRUE(std::isnan(cmd)); } @@ -84,7 +113,7 @@ TEST_F(DummyClassNameTest, activate_success) ASSERT_TRUE(std::isnan((*msg)->duration)); } -TEST_F(DummyClassNameTest, update_success) +TEST_F(DummyClassNameTest, when_controller_active_and_update_called_expect_success) { SetUpController(); @@ -92,11 +121,11 @@ TEST_F(DummyClassNameTest, update_success) ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); } -TEST_F(DummyClassNameTest, deactivate_success) +TEST_F(DummyClassNameTest, when_active_controller_is_deactivated_expect_success) { SetUpController(); @@ -105,24 +134,46 @@ TEST_F(DummyClassNameTest, deactivate_success) ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); } -TEST_F(DummyClassNameTest, reactivate_success) +TEST_F( + DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success) { SetUpController(); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->command_interfaces_[CMD_MY_ITFS].get_value(), 101.101); + ASSERT_EQ(controller_->command_interfaces_[NR_CMD_ITFS].get_value(), 101.101); ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS].get_value())); + ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS].get_value())); + + ASSERT_EQ( + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), + controller_interface::return_type::OK); +} + +// when update is called expect the previously set reference before calling update, +// inside the controller state message +TEST_F(DummyClassNameTest, when_update_is_called_expect_status_message) +{ + SetUpController(); + + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[CMD_MY_ITFS].get_value())); ASSERT_EQ( controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); + + ControllerStateMsg msg; + subscribe_to_controller_status_execute_update_and_get_messages(msg); + + EXPECT_EQ(msg.set_point, 101.101); } -TEST_F(DummyClassNameTest, test_setting_slow_mode_service) +TEST_F( + DummyClassNameTest, + when_controller_is_configured_and_activated_properly_expect_correct_setting_of_mode_service) { SetUpController(); @@ -148,7 +199,7 @@ TEST_F(DummyClassNameTest, test_setting_slow_mode_service) ASSERT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); } -TEST_F(DummyClassNameTest, test_update_logic_fast) +TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for_fast_mode) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -161,23 +212,23 @@ TEST_F(DummyClassNameTest, test_update_logic_fast) // set command statically static constexpr double TEST_DISPLACEMENT = 23.24; std::shared_ptr msg = std::make_shared(); - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); + msg->joint_names = command_joint_names_; + msg->displacements.resize(command_joint_names_.size(), TEST_DISPLACEMENT); + msg->velocities.resize(command_joint_names_.size(), std::numeric_limits::quiet_NaN()); msg->duration = std::numeric_limits::quiet_NaN(); controller_->input_ref_.writeFromNonRT(msg); ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); } -TEST_F(DummyClassNameTest, test_update_logic_slow) +TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for_slow_mode) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -191,9 +242,9 @@ TEST_F(DummyClassNameTest, test_update_logic_slow) static constexpr double TEST_DISPLACEMENT = 23.24; std::shared_ptr msg = std::make_shared(); // When slow mode is enabled command ends up being half of the value - msg->joint_names = joint_names_; - msg->displacements.resize(joint_names_.size(), TEST_DISPLACEMENT); - msg->velocities.resize(joint_names_.size(), std::numeric_limits::quiet_NaN()); + msg->joint_names = command_joint_names_; + msg->displacements.resize(command_joint_names_.size(), TEST_DISPLACEMENT); + msg->velocities.resize(command_joint_names_.size(), std::numeric_limits::quiet_NaN()); msg->duration = std::numeric_limits::quiet_NaN(); controller_->input_ref_.writeFromNonRT(msg); controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); @@ -204,55 +255,46 @@ TEST_F(DummyClassNameTest, test_update_logic_slow) controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(joint_command_values_[STATE_MY_ITFS], TEST_DISPLACEMENT / 2); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT / 2); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); } -TEST_F(DummyClassNameTest, publish_status_success) +// reference_interfaces and command_interfaces values depend on the reference_msg, +// the below test shows two cases when reference_msg is not received and when it is received. +TEST_F(DummyClassNameTest, when_reference_msg_received_expect_updated_commands_and_status_message) { SetUpController(); - ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - - ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), - controller_interface::return_type::OK); - - ControllerStateMsg msg; - subscribe_and_get_messages(msg); - - ASSERT_EQ(msg.set_point, 101.101); -} - -TEST_F(DummyClassNameTest, receive_message_and_publish_updated_status) -{ - SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; executor.add_node(controller_->get_node()->get_node_base_interface()); ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - + // no reference_msg sent ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - ControllerStateMsg msg; - subscribe_and_get_messages(msg); + subscribe_to_controller_status_execute_update_and_get_messages(msg); ASSERT_EQ(msg.set_point, 101.101); + joint_command_values_[0] = TEST_DISPLACEMENT; - publish_commands(); + // reference_callback() is implicitly called when publish_commands() is called + // reference_msg is published with provided time stamp when publish_commands( time_stamp) + // is called + publish_commands(controller_->get_node()->now()); ASSERT_TRUE(controller_->wait_for_commands(executor)); ASSERT_EQ( - controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), + controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(joint_command_values_[CMD_MY_ITFS], 0.45); + // EXPLAIN WHY THE BELOW EQUALITY IS VALID + // depends on how command_interface values are set inside update methods + EXPECT_EQ(joint_command_values_[0], 0.45); - subscribe_and_get_messages(msg); + subscribe_to_controller_status_execute_update_and_get_messages(msg); ASSERT_EQ(msg.set_point, 0.45); } diff --git a/templates/ros2_control/controller/test_dummy_controller.hpp b/templates/ros2_control/controller/test_dummy_controller.hpp index dbee16bd..03a1c3ec 100644 --- a/templates/ros2_control/controller/test_dummy_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_controller.hpp @@ -48,14 +48,21 @@ constexpr auto NODE_ERROR = controller_interface::CallbackReturn::ERROR; class TestableDummyClassName : public dummy_package_namespace::DummyClassName { FRIEND_TEST(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_set); + FRIEND_TEST(DummyClassNameTest, when_controller_configured_expect_properly_exported_interfaces); + FRIEND_TEST(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_reset); FRIEND_TEST(DummyClassNameTest, when_controller_is_activated_expect_reference_reset); + FRIEND_TEST(DummyClassNameTest, when_controller_active_and_update_called_expect_success); + FRIEND_TEST(DummyClassNameTest, when_active_controller_is_deactivated_expect_success); FRIEND_TEST( DummyClassNameTest, when_controller_is_reactivated_expect_cmd_itfs_not_set_and_update_success); + FRIEND_TEST(DummyClassNameTest, when_update_is_called_expect_status_message); FRIEND_TEST( DummyClassNameTest, when_controller_is_configured_and_activated_properly_expect_correct_setting_of_mode_service); FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for_fast_mode); FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for_slow_mode); + FRIEND_TEST( + DummyClassNameTest, when_reference_msg_received_expect_updated_commands_and_status_message); public: controller_interface::CallbackReturn on_configure( From 00d6daa8c90675b60ede6630595b2ee278d1fa13 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Tue, 14 Mar 2023 18:05:58 +0100 Subject: [PATCH 17/38] updated regular controller with improvements from mecanum --- .../controller/dummy_controller.cpp | 72 +++++++++++-------- .../dummy_controller.hpp | 6 +- 2 files changed, 45 insertions(+), 33 deletions(-) diff --git a/templates/ros2_control/controller/dummy_controller.cpp b/templates/ros2_control/controller/dummy_controller.cpp index 66ecdcd0..f3802745 100644 --- a/templates/ros2_control/controller/dummy_controller.cpp +++ b/templates/ros2_control/controller/dummy_controller.cpp @@ -41,8 +41,10 @@ using ControllerReferenceMsg = dummy_package_namespace::DummyClassName::Controll // called from RT control loop void reset_controller_reference_msg( - std::shared_ptr & msg, const std::vector & joint_names) + const std::shared_ptr & msg, const std::vector & joint_names, + const std::shared_ptr & node) { + msg->header.stamp = node->now(); msg->joint_names = joint_names; msg->displacements.resize(joint_names.size(), std::numeric_limits::quiet_NaN()); msg->velocities.resize(joint_names.size(), std::numeric_limits::quiet_NaN()); @@ -74,17 +76,18 @@ controller_interface::CallbackReturn DummyClassName::on_configure( { params_ = param_listener_->get_params(); - if (!params_.state_joints.empty()) { - state_joints_ = params_.state_joints; + if (!params_.state_joint_names.empty()) { + state_joint_names_ = params_.state_joint_names; } else { - state_joints_ = params_.joints; + state_joint_names_ = params_.command_joint_names; } - if (params_.joints.size() != state_joints_.size()) { + if (params_.command_joint_names.size() != state_joint_names_.size()) { RCLCPP_FATAL( get_node()->get_logger(), - "Size of 'joints' (%zu) and 'state_joints' (%zu) parameters has to be the same!", - params_.joints.size(), state_joints_.size()); + "Size of 'command_joint_names' (%d) and 'state_joint_names' (%d) parameters has to be the " + "same!", + params_.command_joint_names.size(), state_joint_names_.size()); return CallbackReturn::FAILURE; } @@ -99,7 +102,7 @@ controller_interface::CallbackReturn DummyClassName::on_configure( std::bind(&DummyClassName::reference_callback, this, std::placeholders::_1)); std::shared_ptr msg = std::make_shared(); - reset_controller_reference_msg(msg, params_.joints); + reset_controller_reference_msg(msg, params_.command_joint_names, get_node()); input_ref_.writeFromNonRT(msg); auto set_slow_mode_service_callback = @@ -120,8 +123,8 @@ controller_interface::CallbackReturn DummyClassName::on_configure( try { // State publisher - s_publisher_ = - get_node()->create_publisher("~/state", rclcpp::SystemDefaultsQoS()); + s_publisher_ = get_node()->create_publisher( + "~/controller_state", rclcpp::SystemDefaultsQoS()); state_publisher_ = std::make_unique(s_publisher_); } catch (const std::exception & e) { fprintf( @@ -132,32 +135,20 @@ controller_interface::CallbackReturn DummyClassName::on_configure( // TODO(anyone): Reserve memory in state publisher depending on the message type state_publisher_->lock(); - state_publisher_->msg_.header.frame_id = params_.joints[0]; + state_publisher_->msg_.header.frame_id = params_.command_joint_names[0]; state_publisher_->unlock(); RCLCPP_INFO(get_node()->get_logger(), "configure successful"); return controller_interface::CallbackReturn::SUCCESS; } -void DummyClassName::reference_callback(const std::shared_ptr msg) -{ - if (msg->joint_names.size() == params_.joints.size()) { - input_ref_.writeFromNonRT(msg); - } else { - RCLCPP_ERROR( - get_node()->get_logger(), - "Received %zu , but expected %zu joints in command. Ignoring message.", - msg->joint_names.size(), params_.joints.size()); - } -} - controller_interface::InterfaceConfiguration DummyClassName::command_interface_configuration() const { controller_interface::InterfaceConfiguration command_interfaces_config; command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; - command_interfaces_config.names.reserve(params_.joints.size()); - for (const auto & joint : params_.joints) { + command_interfaces_config.names.reserve(params_.command_joint_names.size()); + for (const auto & joint : params_.command_joint_names) { command_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } @@ -169,14 +160,34 @@ controller_interface::InterfaceConfiguration DummyClassName::state_interface_con controller_interface::InterfaceConfiguration state_interfaces_config; state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; - state_interfaces_config.names.reserve(state_joints_.size()); - for (const auto & joint : state_joints_) { + state_interfaces_config.names.reserve(state_joint_names_.size()); + for (const auto & joint : state_joint_names_) { state_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } return state_interfaces_config; } +void DummyClassName::reference_callback(const std::shared_ptr msg) +{ + // if no timestamp provided use current time for command timestamp + if (msg->header.stamp.sec == 0 && msg->header.stamp.nanosec == 0u) { + RCLCPP_WARN( + get_node()->get_logger(), + "Timestamp in header is missing, using current time as command " + "timestamp."); + msg->header.stamp = get_node()->now(); + } + if (msg->joint_names.size() == params_.command_joint_names.size()) { + input_ref_.writeFromNonRT(msg); + } else { + RCLCPP_ERROR( + get_node()->get_logger(), + "Received %zu , but expected %zu command_joint_names in command. Ignoring message.", + msg->joint_names.size(), params_.command_joint_names.size()); + } +} + controller_interface::CallbackReturn DummyClassName::on_activate( const rclcpp_lifecycle::State & /*previous_state*/) { @@ -185,7 +196,7 @@ controller_interface::CallbackReturn DummyClassName::on_activate( // `controller_interface::get_ordered_interfaces` helper function // Set default value in command - reset_controller_reference_msg(*(input_ref_.readFromRT)(), params_.joints); + reset_controller_reference_msg(*(input_ref_.readFromRT()), state_joint_names_, get_node()); return controller_interface::CallbackReturn::SUCCESS; } @@ -195,7 +206,7 @@ controller_interface::CallbackReturn DummyClassName::on_deactivate( { // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop - for (size_t i = 0; i < command_interfaces_.size(); ++i) { + for (size_t i = 0; i < NR_CMD_ITFS; ++i) { command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN()); } return controller_interface::CallbackReturn::SUCCESS; @@ -221,7 +232,8 @@ controller_interface::return_type DummyClassName::update( if (state_publisher_ && state_publisher_->trylock()) { state_publisher_->msg_.header.stamp = time; - state_publisher_->msg_.set_point = command_interfaces_[CMD_MY_ITFS].get_value(); + state_publisher_->msg_.set_point = command_interfaces_[NR_CMD_ITFS].get_value(); + state_publisher_->unlockAndPublish(); } diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp index df7046e8..ae7aae5d 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp @@ -35,10 +35,10 @@ namespace dummy_package_namespace { // name constants for state interfaces -static constexpr size_t STATE_MY_ITFS = 0; +static constexpr size_t NR_STATE_ITFS = 0; // name constants for command interfaces -static constexpr size_t CMD_MY_ITFS = 0; +static constexpr size_t NR_CMD_ITFS = 0; // TODO(anyone: example setup for control mode (usually you will use some enums defined in messages) enum class control_mode_type : std::uint8_t { @@ -86,7 +86,7 @@ class DummyClassName : public controller_interface::ControllerInterface std::shared_ptr param_listener_; dummy_controller::Params params_; - std::vector state_joints_; + std::vector state_joint_names_; // Command subscribers and Controller State publisher rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; From f298666e5ba2e95ac1c72c2a1101ed0e4267049e Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Tue, 21 Mar 2023 17:18:20 +0100 Subject: [PATCH 18/38] Small fiexes to make code more general --- .../controller/dummy_chainable_controller.cpp | 10 +++------- .../controller/test_dummy_chainable_controller.cpp | 6 +++--- .../controller/test_dummy_chainable_controller.hpp | 2 -- 3 files changed, 6 insertions(+), 12 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 5033cb20..a030bb81 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -195,12 +195,10 @@ std::vector DummyClassName::on_export_refe std::vector reference_interfaces; reference_interfaces.reserve(reference_interfaces_.size()); - std::vector reference_interface_names = { - "linear/x/velocity", "linear/y/velocity", "angular/z/velocity"}; - - for (size_t i = 0; i < reference_interfaces_.size(); ++i) { + for (size_t i = 0; i < NR_REF_ITFS; ++i) { reference_interfaces.push_back(hardware_interface::CommandInterface( - get_node()->get_name(), reference_interface_names[i], &reference_interfaces_[i])); + get_node()->get_name(), state_joints_[i] + "/" + params_.interface_name, + &reference_interfaces_[i])); } return reference_interfaces; @@ -261,8 +259,6 @@ controller_interface::return_type DummyClassName::update_and_write_commands( command_interfaces_[i].set_value(reference_interfaces_[i]); reference_interfaces_[i] = std::numeric_limits::quiet_NaN(); - } else { - command_interfaces_[i].set_value(0.0); } } diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 54581632..6cef30e2 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -68,12 +68,12 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i // check ref itfs auto reference_interfaces = controller_->export_reference_interfaces(); ASSERT_EQ(reference_interfaces.size(), NR_REF_ITFS); - for (size_t i = 0; i < reference_interface_names.size(); ++i) { + for (size_t i = 0; i < NR_REF_ITFS; ++i) { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + - std::string("/") + reference_interface_names[i]; + state_joint_names_[i] + "/" + interface_name_; EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), reference_interface_names[i]); + EXPECT_EQ(reference_interfaces[i].get_interface_name(), state_joint_names_[i] + "/" + interface_name_); } } diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index fd271c03..a6dd1079 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -268,8 +268,6 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): adjust the members as needed // Controller-related parameters - std::vector reference_interface_names = { - "linear/x/velocity", "linear/y/velocity", "angular/z/velocity"}; std::vector command_joint_names_ = {"joint1"}; std::vector state_joint_names_ = {"joint1state"}; std::string interface_name_ = "acceleration"; From b996dbfa7b3cc60575865da694d7ef55d1f48439 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Thu, 23 Mar 2023 14:08:28 +0100 Subject: [PATCH 19/38] all tests pass except load_contr on standard controller --- .../controller/dummy_controller.cpp | 4 ++-- .../controller/dummy_controller_params.yaml | 3 +++ .../dummy_controller.hpp | 10 +++++---- .../controller/test_dummy_controller.cpp | 22 +++++++------------ .../controller/test_dummy_controller.hpp | 5 +++-- .../test_dummy_controller_preceeding.cpp | 7 +++--- 6 files changed, 25 insertions(+), 26 deletions(-) diff --git a/templates/ros2_control/controller/dummy_controller.cpp b/templates/ros2_control/controller/dummy_controller.cpp index f3802745..7b0aa5f5 100644 --- a/templates/ros2_control/controller/dummy_controller.cpp +++ b/templates/ros2_control/controller/dummy_controller.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -206,7 +206,7 @@ controller_interface::CallbackReturn DummyClassName::on_deactivate( { // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop - for (size_t i = 0; i < NR_CMD_ITFS; ++i) { + for (size_t i = 0; i <= NR_CMD_ITFS; ++i) { command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN()); } return controller_interface::CallbackReturn::SUCCESS; diff --git a/templates/ros2_control/controller/dummy_controller_params.yaml b/templates/ros2_control/controller/dummy_controller_params.yaml index 13fefb5f..dbd366cb 100644 --- a/templates/ros2_control/controller/dummy_controller_params.yaml +++ b/templates/ros2_control/controller/dummy_controller_params.yaml @@ -5,3 +5,6 @@ test_dummy_controller: - joint1 interface_name: acceleration + + state_joint_names: + - joint1state \ No newline at end of file diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp index ae7aae5d..edb35598 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -35,10 +35,10 @@ namespace dummy_package_namespace { // name constants for state interfaces -static constexpr size_t NR_STATE_ITFS = 0; +static constexpr size_t STATE_MY_ITFS = 0; // name constants for command interfaces -static constexpr size_t NR_CMD_ITFS = 0; +static constexpr size_t CMD_MY_ITFS = 0; // TODO(anyone: example setup for control mode (usually you will use some enums defined in messages) enum class control_mode_type : std::uint8_t { @@ -86,12 +86,14 @@ class DummyClassName : public controller_interface::ControllerInterface std::shared_ptr param_listener_; dummy_controller::Params params_; - std::vector state_joint_names_; + std::vector state_joints_; // Command subscribers and Controller State publisher rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; realtime_tools::RealtimeBuffer> input_ref_; + rclcpp::Duration ref_timeout_ = rclcpp::Duration::from_seconds(0.0); // 0ms + rclcpp::Service::SharedPtr set_slow_control_mode_service_; realtime_tools::RealtimeBuffer control_mode_; diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 2dbfc03c..11ad053f 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -20,9 +20,8 @@ #include #include -using dummy_package_namespace::NR_CMD_ITFS; -using dummy_package_namespace::NR_REF_ITFS; -using dummy_package_namespace::NR_STATE_ITFS; +using contr_stndr_mecnum_on_rtw::NR_CMD_ITFS; +using contr_stndr_mecnum_on_rtw::NR_STATE_ITFS; using dummy_package_namespace::control_mode_type; @@ -42,7 +41,6 @@ TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_s ASSERT_THAT( controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); - ASSERT_TRUE(controller_->params_.state_joint_names.empty()); ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); } @@ -62,7 +60,7 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i auto state_intefaces = controller_->state_interface_configuration(); ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); for (size_t i = 0; i < state_intefaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); } } @@ -78,15 +76,15 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re auto reference = controller_->input_ref_.readFromNonRT(); auto old_timestamp = (*reference)->header.stamp; - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), joint_names_.size()); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], joint_names_[0]); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*reference)->displacements[0])); EXPECT_TRUE(std::isnan((*reference)->velocities[0])); EXPECT_TRUE(std::isnan((*reference)->duration)); publish_commands(controller_->get_node()->now(), {"joint1", "joint2"}); ASSERT_TRUE(controller_->wait_for_commands(executor)); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), joint_names_.size()); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], joint_names_[0]); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->velocities[0])); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->duration)); @@ -209,8 +207,6 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; std::shared_ptr msg = std::make_shared(); msg->joint_names = command_joint_names_; msg->displacements.resize(command_joint_names_.size(), TEST_DISPLACEMENT); @@ -238,8 +234,6 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; std::shared_ptr msg = std::make_shared(); // When slow mode is enabled command ends up being half of the value msg->joint_names = command_joint_names_; diff --git a/templates/ros2_control/controller/test_dummy_controller.hpp b/templates/ros2_control/controller/test_dummy_controller.hpp index 03a1c3ec..323e189b 100644 --- a/templates/ros2_control/controller/test_dummy_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_controller.hpp @@ -197,7 +197,8 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): add/remove arguments as it suites your command message type void publish_commands( - const rclcpp::Time & stamp, const std::vector & displacements = {0.45}, + const rclcpp::Time & stamp, const std::vector & joint_names = {"joint1_test"}, + const std::vector & displacements = {0.45}, const std::vector & velocities = {0.0}, const double duration = 1.25) { auto wait_for_topic = [&](const auto topic_name) { @@ -217,7 +218,7 @@ class DummyClassNameFixture : public ::testing::Test ControllerReferenceMsg msg; msg.header.stamp = stamp; - msg.joint_names = command_joint_names_; + msg.joint_names = joint_names; msg.displacements = displacements; msg.velocities = velocities; msg.duration = duration; diff --git a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp index 36c0e65e..fa3668d8 100644 --- a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp +++ b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp @@ -20,10 +20,9 @@ #include #include -using dummy_package_namespace::control_mode_type; -using dummy_package_namespace::NR_CMD_ITFS; -using dummy_package_namespace::NR_REF_ITFS; -using dummy_package_namespace::NR_STATE_ITFS; +using contr_stndr_mecnum_on_rtw::control_mode_type; +using contr_stndr_mecnum_on_rtw::NR_CMD_ITFS; +using contr_stndr_mecnum_on_rtw::NR_STATE_ITFS; class DummyClassNameTest : public DummyClassNameFixture { From 56c463d04027bc7c05d53b0d234cfc6b31238ce1 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Thu, 23 Mar 2023 14:34:55 +0100 Subject: [PATCH 20/38] corrections --- .../dummy_package_namespace/dummy_controller.hpp | 8 +++----- .../ros2_control/controller/test_dummy_controller.cpp | 4 ++-- .../ros2_control/controller/test_dummy_controller.hpp | 2 +- .../controller/test_dummy_controller_preceeding.cpp | 6 +++--- 4 files changed, 9 insertions(+), 11 deletions(-) diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp index edb35598..63a47306 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp @@ -35,10 +35,10 @@ namespace dummy_package_namespace { // name constants for state interfaces -static constexpr size_t STATE_MY_ITFS = 0; +static constexpr size_t NR_STATE_ITFS = 0; // name constants for command interfaces -static constexpr size_t CMD_MY_ITFS = 0; +static constexpr size_t NR_CMD_ITFS = 0; // TODO(anyone: example setup for control mode (usually you will use some enums defined in messages) enum class control_mode_type : std::uint8_t { @@ -86,14 +86,12 @@ class DummyClassName : public controller_interface::ControllerInterface std::shared_ptr param_listener_; dummy_controller::Params params_; - std::vector state_joints_; + std::vector state_joint_names_; // Command subscribers and Controller State publisher rclcpp::Subscription::SharedPtr ref_subscriber_ = nullptr; realtime_tools::RealtimeBuffer> input_ref_; - rclcpp::Duration ref_timeout_ = rclcpp::Duration::from_seconds(0.0); // 0ms - rclcpp::Service::SharedPtr set_slow_control_mode_service_; realtime_tools::RealtimeBuffer control_mode_; diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 11ad053f..7c2bcab3 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -20,8 +20,8 @@ #include #include -using contr_stndr_mecnum_on_rtw::NR_CMD_ITFS; -using contr_stndr_mecnum_on_rtw::NR_STATE_ITFS; +using dummy_package_namespace::::NR_CMD_ITFS; +using dummy_package_namespace::::NR_STATE_ITFS; using dummy_package_namespace::control_mode_type; diff --git a/templates/ros2_control/controller/test_dummy_controller.hpp b/templates/ros2_control/controller/test_dummy_controller.hpp index 323e189b..9136c13a 100644 --- a/templates/ros2_control/controller/test_dummy_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_controller.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. diff --git a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp index fa3668d8..177e4d26 100644 --- a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp +++ b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp @@ -20,9 +20,9 @@ #include #include -using contr_stndr_mecnum_on_rtw::control_mode_type; -using contr_stndr_mecnum_on_rtw::NR_CMD_ITFS; -using contr_stndr_mecnum_on_rtw::NR_STATE_ITFS; +using dummy_package_namespace::control_mode_type; +using dummy_package_namespace::NR_CMD_ITFS; +using dummy_package_namespace::NR_STATE_ITFS; class DummyClassNameTest : public DummyClassNameFixture { From 3f3e1db243adf3148358ed0dbf6fa8c5518539e4 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Thu, 23 Mar 2023 14:41:27 +0100 Subject: [PATCH 21/38] correction --- templates/ros2_control/controller/test_dummy_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 7c2bcab3..810cb034 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -20,8 +20,8 @@ #include #include -using dummy_package_namespace::::NR_CMD_ITFS; -using dummy_package_namespace::::NR_STATE_ITFS; +using dummy_package_namespace::NR_CMD_ITFS; +using dummy_package_namespace::NR_STATE_ITFS; using dummy_package_namespace::control_mode_type; From 4e5fca2c5e22ed62c0bdb94afe2efba6ee938278 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Thu, 23 Mar 2023 14:58:39 +0100 Subject: [PATCH 22/38] ran precommit and changed config file to one from ros2_control --- .clang-format | 13 +- .pre-commit-config.yaml | 62 +- docs/_themes/sphinx_rtd_theme/__init__.py | 20 +- docs/_themes/sphinx_rtd_theme/footer.html | 2 +- .../locale/de/LC_MESSAGES/sphinx.po | 4 +- .../locale/en/LC_MESSAGES/sphinx.po | 3 +- .../locale/es/LC_MESSAGES/sphinx.po | 8 +- .../locale/et/LC_MESSAGES/sphinx.po | 6 +- .../locale/fr/LC_MESSAGES/sphinx.po | 10 +- .../locale/nl/LC_MESSAGES/sphinx.po | 6 +- .../locale/pt_BR/LC_MESSAGES/sphinx.po | 6 +- .../locale/ru/LC_MESSAGES/sphinx.po | 6 +- .../sphinx_rtd_theme/locale/sphinx.pot | 3 +- .../locale/sv/LC_MESSAGES/sphinx.po | 6 +- .../locale/tr/LC_MESSAGES/sphinx.po | 6 +- .../locale/zh_CN/LC_MESSAGES/sphinx.po | 6 +- .../static/css/badge_only.css | 2 +- .../static/css/fonts/fontawesome-webfont.svg | 1418 ++++++++--------- .../sphinx_rtd_theme/static/css/theme.css | 2 +- .../sphinx_rtd_theme/static/js/badge_only.js | 2 +- .../sphinx_rtd_theme/static/js/theme.js | 2 +- docs/conf.py | 1 - docs/guidelines/development.rst | 2 +- .../controller/dummy_chainable_controller.cpp | 87 +- .../controller/dummy_controller.cpp | 75 +- .../controller/dummy_controller_params.yaml | 4 +- .../dummy_chainable_controller.hpp | 3 +- .../dummy_controller.hpp | 3 +- .../validate_dummy_controller_parameters.hpp | 3 +- .../test_dummy_chainable_controller.cpp | 39 +- .../test_dummy_chainable_controller.hpp | 30 +- ..._dummy_chainable_controller_preceeding.cpp | 9 +- .../controller/test_dummy_controller.cpp | 18 +- .../controller/test_dummy_controller.hpp | 32 +- .../test_dummy_controller_preceeding.cpp | 6 +- .../hardware/robot_hardware_interface.cpp | 9 +- ...test_forward_position_controller.launch.py | 1 - ...test_joint_trajectory_controller.launch.py | 1 - 38 files changed, 999 insertions(+), 917 deletions(-) diff --git a/.clang-format b/.clang-format index 3f0599e3..9c21e1e1 100644 --- a/.clang-format +++ b/.clang-format @@ -1,16 +1,11 @@ --- -Language: Cpp -BasedOnStyle: Google +Language: Cpp +BasedOnStyle: Google +ColumnLimit: 100 AccessModifierOffset: -2 AlignAfterOpenBracket: AlwaysBreak -BreakBeforeBraces: Custom -BraceWrapping: - AfterClass: true - AfterFunction: true - AfterNamespace: true - AfterStruct: true -ColumnLimit: 100 +BreakBeforeBraces: Allman ConstructorInitializerIndentWidth: 0 ContinuationIndentWidth: 2 DerivePointerAlignment: false diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 7fa53196..38dd9a11 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,38 +1,22 @@ -# How to use: -# -# Detailed: -# See https://github.com/pre-commit/pre-commit -# -# Short: -# First install pre-commit. For example: pip install pre-commit -# -# You can then install the git hook scripts with: -# -# pre-commit install # (NOTE after this pre-commit runs every time you run git commit) + +# To use: # -# To skip pre-commit you then have to run: git commit -n +# pre-commit run -a # # Or: -# Just run pre-commit manually -# -# pre-commit run # -# To rerun for all files: -# -# pre-commit run -a +# pre-commit install # (runs every time you commit in git) # # To update this file: # # pre-commit autoupdate # - -# files that should be ignored globally -exclude: ^(docs/_themes/) +# See https://github.com/pre-commit/pre-commit repos: # Standard hooks - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.1.0 + rev: v4.4.0 hooks: - id: check-added-large-files - id: check-ast @@ -46,33 +30,35 @@ repos: - id: end-of-file-fixer - id: mixed-line-ending - id: trailing-whitespace + exclude_types: [rst] - id: fix-byte-order-marker + # Python hooks - repo: https://github.com/asottile/pyupgrade - rev: v2.31.1 + rev: v3.3.1 hooks: - id: pyupgrade args: [--py36-plus] + # PyDocStyle + - repo: https://github.com/PyCQA/pydocstyle + rev: 6.3.0 + hooks: + - id: pydocstyle + args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"] + - repo: https://github.com/psf/black - rev: 22.3.0 + rev: 23.1.0 hooks: - id: black args: ["--line-length=99"] - # PEP 257 - - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257 - rev: v0.3.3 - hooks: - - id: pep257 - args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"] - - repo: https://github.com/pycqa/flake8 - rev: 4.0.1 + rev: 6.0.0 hooks: - id: flake8 - args: ["--ignore=E501, W503"] + args: ["--extend-ignore=E501"] # CPP hooks - repo: local @@ -127,18 +113,17 @@ repos: stages: [commit] entry: ament_copyright language: system - exclude: ^(templates/)|docs/conf.py # Docs - RestructuredText hooks - repo: https://github.com/PyCQA/doc8 - rev: 0.11.0 + rev: v1.1.1 hooks: - id: doc8 args: ['--max-line-length=100', '--ignore=D001'] exclude: CHANGELOG\.rst$ - repo: https://github.com/pre-commit/pygrep-hooks - rev: v1.9.0 + rev: v1.10.0 hooks: - id: rst-backticks exclude: CHANGELOG\.rst$ @@ -146,9 +131,10 @@ repos: - id: rst-inline-touching-normal # Spellcheck in comments and docs + # skipping of *.svg files is not working... - repo: https://github.com/codespell-project/codespell - rev: v2.1.0 + rev: v2.2.4 hooks: - id: codespell args: ['--write-changes'] - exclude: (\.(svg|pyc|drawio))$|(CHANGELOG\.rst) + exclude: CHANGELOG\.rst|\.(svg|pyc)$ diff --git a/docs/_themes/sphinx_rtd_theme/__init__.py b/docs/_themes/sphinx_rtd_theme/__init__.py index b4d72c99..51719da5 100644 --- a/docs/_themes/sphinx_rtd_theme/__init__.py +++ b/docs/_themes/sphinx_rtd_theme/__init__.py @@ -10,13 +10,13 @@ from sphinx.locale import _ try: - # Avaliable from Sphinx 1.6 + # Available from Sphinx 1.6 from sphinx.util.logging import getLogger except ImportError: from logging import getLogger -__version__ = '0.5.1' +__version__ = "0.5.1" __version_full__ = __version__ logger = getLogger(__name__) @@ -30,9 +30,11 @@ def get_html_theme_path(): def config_initiated(app, config): theme_options = config.html_theme_options or {} - if theme_options.get('canonical_url'): + if theme_options.get("canonical_url"): logger.warning( - _('The canonical_url option is deprecated, use the html_baseurl option from Sphinx instead.') + _( + "The canonical_url option is deprecated, use the html_baseurl option from Sphinx instead." + ) ) @@ -40,13 +42,13 @@ def config_initiated(app, config): def setup(app): if version_info >= (1, 6, 0): # Register the theme that can be referenced without adding a theme path - app.add_html_theme('sphinx_rtd_theme', path.abspath(path.dirname(__file__))) + app.add_html_theme("sphinx_rtd_theme", path.abspath(path.dirname(__file__))) if version_info >= (1, 8, 0): # Add Sphinx message catalog for newer versions of Sphinx # See http://www.sphinx-doc.org/en/master/extdev/appapi.html#sphinx.application.Sphinx.add_message_catalog - rtd_locale_path = path.join(path.abspath(path.dirname(__file__)), 'locale') - app.add_message_catalog('sphinx', rtd_locale_path) - app.connect('config-inited', config_initiated) + rtd_locale_path = path.join(path.abspath(path.dirname(__file__)), "locale") + app.add_message_catalog("sphinx", rtd_locale_path) + app.connect("config-inited", config_initiated) - return {'parallel_read_safe': True, 'parallel_write_safe': True} + return {"parallel_read_safe": True, "parallel_write_safe": True} diff --git a/docs/_themes/sphinx_rtd_theme/footer.html b/docs/_themes/sphinx_rtd_theme/footer.html index 1284a243..9005ec40 100644 --- a/docs/_themes/sphinx_rtd_theme/footer.html +++ b/docs/_themes/sphinx_rtd_theme/footer.html @@ -50,7 +50,7 @@ {% set readthedocs_web = 'Read the Docs' %} {# Translators: the variable "sphinx_web" is a link to the Sphinx project documentation with the text "Sphinx" #} {% trans sphinx_web=sphinx_web, readthedocs_web=readthedocs_web %}Built with {{ sphinx_web }} using a{% endtrans %} - {# Translators: "theme" refers to a theme for Sphinx, which alters the appearance of the generated documenation #} + {# Translators: "theme" refers to a theme for Sphinx, which alters the appearance of the generated documentation #} {% trans %}theme{% endtrans %} {# Translators: this is always used as "provided by Read the Docs", and should not imply Read the Docs is an author of the generated documentation. #} {% trans %}provided by {{ readthedocs_web }}{% endtrans %}. diff --git a/docs/_themes/sphinx_rtd_theme/locale/de/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/de/LC_MESSAGES/sphinx.po index 44b82f29..f13312ab 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/de/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/de/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Tom Kunze , 2019 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" diff --git a/docs/_themes/sphinx_rtd_theme/locale/en/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/en/LC_MESSAGES/sphinx.po index 76653641..f4004140 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/en/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/en/LC_MESSAGES/sphinx.po @@ -76,7 +76,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "" @@ -161,4 +161,3 @@ msgstr "" #~ msgid "Documentation Home" #~ msgstr "" - diff --git a/docs/_themes/sphinx_rtd_theme/locale/es/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/es/LC_MESSAGES/sphinx.po index f7e07777..bae45320 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/es/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/es/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Anthony , 2019 # Leonardo J. Caballero G. , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -71,7 +71,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Construido con %(sphinx_web)s usando un" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "tema" @@ -102,7 +102,7 @@ msgstr "Búsqueda" #: sphinx_rtd_theme/layout.html:102 msgid "Copyright" -msgstr "Derechos de autor" +msgstr "Derechos de author" #: sphinx_rtd_theme/layout.html:134 msgid "Logo" diff --git a/docs/_themes/sphinx_rtd_theme/locale/et/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/et/LC_MESSAGES/sphinx.po index 33f2ed7d..80b2ff44 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/et/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/et/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Anthony , 2020 # Ivar Smolin , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -71,7 +71,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Ehitatud %(sphinx_web)s'iga," #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "kujundusteema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/fr/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/fr/LC_MESSAGES/sphinx.po index 92634861..0668b15c 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/fr/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/fr/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Radina Matic , 2020 # Anthony , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -71,7 +71,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Compilé avec %(sphinx_web)s en utilisant un" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "thème" @@ -110,7 +110,7 @@ msgstr "Logo" #: sphinx_rtd_theme/search.html:31 msgid "Please activate JavaScript to enable the search functionality." -msgstr "Activez JavaScript pour accéder à la fonction de recherche." +msgstr "Activez JavaScript pour accéder à la function de recherche." #. Search is a noun, not a verb #: sphinx_rtd_theme/search.html:39 @@ -140,7 +140,7 @@ msgstr "Téléchargements" #: sphinx_rtd_theme/versions.html:26 msgid "Project Home" -msgstr "Accueil du projet" +msgstr "Accueil du project" #: sphinx_rtd_theme/versions.html:29 msgid "Builds" diff --git a/docs/_themes/sphinx_rtd_theme/locale/nl/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/nl/LC_MESSAGES/sphinx.po index 464d68fe..fe1534d2 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/nl/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/nl/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Jesse Tan, 2019 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -70,7 +70,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Gebouwd met %(sphinx_web)s met een" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "thema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/pt_BR/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/pt_BR/LC_MESSAGES/sphinx.po index eb1ff5b7..4c0a0da6 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/pt_BR/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/pt_BR/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Rafael Fontenelle , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -70,7 +70,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Compilado com %(sphinx_web)s usando um" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "tema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/ru/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/ru/LC_MESSAGES/sphinx.po index 7b6564a7..4b1c92f9 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/ru/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/ru/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Dmitry Shachnev , 2019 # lvv83 , 2019 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -71,7 +71,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Собрано при помощи %(sphinx_web)s с использованием" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "темы," diff --git a/docs/_themes/sphinx_rtd_theme/locale/sphinx.pot b/docs/_themes/sphinx_rtd_theme/locale/sphinx.pot index e4e0783f..823adc46 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/sphinx.pot +++ b/docs/_themes/sphinx_rtd_theme/locale/sphinx.pot @@ -75,7 +75,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "" @@ -151,4 +151,3 @@ msgstr "" #: sphinx_rtd_theme/versions.html:29 msgid "Builds" msgstr "" - diff --git a/docs/_themes/sphinx_rtd_theme/locale/sv/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/sv/LC_MESSAGES/sphinx.po index 78d91a85..8f9a8ab9 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/sv/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/sv/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Daniel Holmberg , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -70,7 +70,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Gjord med %(sphinx_web)s med hjälp av" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "tema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/tr/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/tr/LC_MESSAGES/sphinx.po index 3705a814..76e83c63 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/tr/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/tr/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # BouRock, 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -62,7 +62,7 @@ msgid "Last updated on %(last_updated)s." msgstr "Son olarak %(last_updated)s tarihinde güncellendi." #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "tema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/zh_CN/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/zh_CN/LC_MESSAGES/sphinx.po index 26dfb322..367d1e7b 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/zh_CN/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/zh_CN/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Anthony , 2020 # 王赛 , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -66,7 +66,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "利用 %(sphinx_web)s 构建，使用了 " #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documenation +#. generated documentation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "主题" diff --git a/docs/_themes/sphinx_rtd_theme/static/css/badge_only.css b/docs/_themes/sphinx_rtd_theme/static/css/badge_only.css index e380325b..b1a0fbfe 100644 --- a/docs/_themes/sphinx_rtd_theme/static/css/badge_only.css +++ b/docs/_themes/sphinx_rtd_theme/static/css/badge_only.css @@ -1 +1 @@ -.fa:before{-webkit-font-smoothing:antialiased}.clearfix{*zoom:1}.clearfix:after,.clearfix:before{display:table;content:""}.clearfix:after{clear:both}@font-face{font-family:FontAwesome;font-style:normal;font-weight:400;src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713?#iefix) format("embedded-opentype"),url(fonts/fontawesome-webfont.woff2?af7ae505a9eed503f8b8e6982036873e) format("woff2"),url(fonts/fontawesome-webfont.woff?fee66e712a8a08eef5805a46892932ad) 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- } catch (const std::exception & e) { + } + catch (const std::exception & e) + { fprintf(stderr, "Exception thrown during controller's init with message: %s \n", e.what()); return controller_interface::CallbackReturn::ERROR; } @@ -76,13 +79,17 @@ controller_interface::CallbackReturn DummyClassName::on_configure( { params_ = param_listener_->get_params(); - if (!params_.state_joint_names.empty()) { + if (!params_.state_joint_names.empty()) + { state_joint_names_ = params_.state_joint_names; - } else { + } + else + { state_joint_names_ = params_.command_joint_names; } - if (params_.command_joint_names.size() != state_joint_names_.size()) { + if (params_.command_joint_names.size() != state_joint_names_.size()) + { RCLCPP_FATAL( get_node()->get_logger(), "Size of 'command_joint_names' (%d) and 'state_joint_names' (%d) parameters has to be the " @@ -108,25 +115,32 @@ controller_interface::CallbackReturn DummyClassName::on_configure( auto set_slow_mode_service_callback = [&]( const std::shared_ptr request, - std::shared_ptr response) { - if (request->data) { - control_mode_.writeFromNonRT(control_mode_type::SLOW); - } else { - control_mode_.writeFromNonRT(control_mode_type::FAST); - } - response->success = true; - }; + std::shared_ptr response) + { + if (request->data) + { + control_mode_.writeFromNonRT(control_mode_type::SLOW); + } + else + { + control_mode_.writeFromNonRT(control_mode_type::FAST); + } + response->success = true; + }; set_slow_control_mode_service_ = get_node()->create_service( "~/set_slow_control_mode", set_slow_mode_service_callback, rmw_qos_profile_services_hist_keep_all); - try { + try + { // State publisher s_publisher_ = get_node()->create_publisher( "~/controller_state", rclcpp::SystemDefaultsQoS()); state_publisher_ = std::make_unique(s_publisher_); - } catch (const std::exception & e) { + } + catch (const std::exception & e) + { fprintf( stderr, "Exception thrown during publisher creation at configure stage with message : %s \n", e.what()); @@ -148,7 +162,8 @@ controller_interface::InterfaceConfiguration DummyClassName::command_interface_c command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; command_interfaces_config.names.reserve(params_.command_joint_names.size()); - for (const auto & joint : params_.command_joint_names) { + for (const auto & joint : params_.command_joint_names) + { command_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } @@ -161,7 +176,8 @@ controller_interface::InterfaceConfiguration DummyClassName::state_interface_con state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; state_interfaces_config.names.reserve(state_joint_names_.size()); - for (const auto & joint : state_joint_names_) { + for (const auto & joint : state_joint_names_) + { state_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } @@ -171,16 +187,20 @@ controller_interface::InterfaceConfiguration DummyClassName::state_interface_con void DummyClassName::reference_callback(const std::shared_ptr msg) { // if no timestamp provided use current time for command timestamp - if (msg->header.stamp.sec == 0 && msg->header.stamp.nanosec == 0u) { + if (msg->header.stamp.sec == 0 && msg->header.stamp.nanosec == 0u) + { RCLCPP_WARN( get_node()->get_logger(), "Timestamp in header is missing, using current time as command " "timestamp."); msg->header.stamp = get_node()->now(); } - if (msg->joint_names.size() == params_.command_joint_names.size()) { + if (msg->joint_names.size() == params_.command_joint_names.size()) + { input_ref_.writeFromNonRT(msg); - } else { + } + else + { RCLCPP_ERROR( get_node()->get_logger(), "Received %zu , but expected %zu command_joint_names in command. Ignoring message.", @@ -195,7 +215,8 @@ std::vector DummyClassName::on_export_refe std::vector reference_interfaces; reference_interfaces.reserve(reference_interfaces_.size()); - for (size_t i = 0; i < NR_REF_ITFS; ++i) { + for (size_t i = 0; i < NR_REF_ITFS; ++i) + { reference_interfaces.push_back(hardware_interface::CommandInterface( get_node()->get_name(), state_joints_[i] + "/" + params_.interface_name, &reference_interfaces_[i])); @@ -224,7 +245,8 @@ controller_interface::CallbackReturn DummyClassName::on_deactivate( { // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop - for (size_t i = 0; i < NR_CMD_ITFS; ++i) { + for (size_t i = 0; i < NR_CMD_ITFS; ++i) + { command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN()); } return controller_interface::CallbackReturn::SUCCESS; @@ -236,8 +258,10 @@ controller_interface::return_type DummyClassName::update_reference_from_subscrib // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop - for (size_t i = 0; i < NR_REF_ITFS; ++i) { - if (!std::isnan((*current_ref)->displacements[i])) { + for (size_t i = 0; i < NR_REF_ITFS; ++i) + { + if (!std::isnan((*current_ref)->displacements[i])) + { reference_interfaces_[i] = (*current_ref)->displacements[i]; (*current_ref)->displacements[i] = std::numeric_limits::quiet_NaN(); @@ -251,9 +275,12 @@ controller_interface::return_type DummyClassName::update_and_write_commands( { // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop - for (size_t i = 0; i < NR_CMD_ITFS; ++i) { - if (!std::isnan(reference_interfaces_[i])) { - if (*(control_mode_.readFromRT()) == control_mode_type::SLOW) { + for (size_t i = 0; i < NR_CMD_ITFS; ++i) + { + if (!std::isnan(reference_interfaces_[i])) + { + if (*(control_mode_.readFromRT()) == control_mode_type::SLOW) + { reference_interfaces_[i] /= 2; } command_interfaces_[i].set_value(reference_interfaces_[i]); @@ -262,14 +289,16 @@ controller_interface::return_type DummyClassName::update_and_write_commands( } } - if (state_publisher_ && state_publisher_->trylock()) { + if (state_publisher_ && state_publisher_->trylock()) + { state_publisher_->msg_.header.stamp = time; state_publisher_->msg_.set_point = command_interfaces_[NR_CMD_ITFS].get_value(); state_publisher_->unlockAndPublish(); } - for (size_t i = 0; i < NR_REF_ITFS; ++i) { + for (size_t i = 0; i < NR_REF_ITFS; ++i) + { reference_interfaces_[i] = std::numeric_limits::quiet_NaN(); } return controller_interface::return_type::OK; diff --git a/templates/ros2_control/controller/dummy_controller.cpp b/templates/ros2_control/controller/dummy_controller.cpp index 7b0aa5f5..4ae33063 100644 --- a/templates/ros2_control/controller/dummy_controller.cpp +++ b/templates/ros2_control/controller/dummy_controller.cpp @@ -61,9 +61,12 @@ controller_interface::CallbackReturn DummyClassName::on_init() { control_mode_.initRT(control_mode_type::FAST); - try { + try + { param_listener_ = std::make_shared(get_node()); - } catch (const std::exception & e) { + } + catch (const std::exception & e) + { fprintf(stderr, "Exception thrown during controller's init with message: %s \n", e.what()); return controller_interface::CallbackReturn::ERROR; } @@ -76,13 +79,17 @@ controller_interface::CallbackReturn DummyClassName::on_configure( { params_ = param_listener_->get_params(); - if (!params_.state_joint_names.empty()) { + if (!params_.state_joint_names.empty()) + { state_joint_names_ = params_.state_joint_names; - } else { + } + else + { state_joint_names_ = params_.command_joint_names; } - if (params_.command_joint_names.size() != state_joint_names_.size()) { + if (params_.command_joint_names.size() != state_joint_names_.size()) + { RCLCPP_FATAL( get_node()->get_logger(), "Size of 'command_joint_names' (%d) and 'state_joint_names' (%d) parameters has to be the " @@ -108,25 +115,32 @@ controller_interface::CallbackReturn DummyClassName::on_configure( auto set_slow_mode_service_callback = [&]( const std::shared_ptr request, - std::shared_ptr response) { - if (request->data) { - control_mode_.writeFromNonRT(control_mode_type::SLOW); - } else { - control_mode_.writeFromNonRT(control_mode_type::FAST); - } - response->success = true; - }; + std::shared_ptr response) + { + if (request->data) + { + control_mode_.writeFromNonRT(control_mode_type::SLOW); + } + else + { + control_mode_.writeFromNonRT(control_mode_type::FAST); + } + response->success = true; + }; set_slow_control_mode_service_ = get_node()->create_service( "~/set_slow_control_mode", set_slow_mode_service_callback, rmw_qos_profile_services_hist_keep_all); - try { + try + { // State publisher s_publisher_ = get_node()->create_publisher( "~/controller_state", rclcpp::SystemDefaultsQoS()); state_publisher_ = std::make_unique(s_publisher_); - } catch (const std::exception & e) { + } + catch (const std::exception & e) + { fprintf( stderr, "Exception thrown during publisher creation at configure stage with message : %s \n", e.what()); @@ -148,7 +162,8 @@ controller_interface::InterfaceConfiguration DummyClassName::command_interface_c command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; command_interfaces_config.names.reserve(params_.command_joint_names.size()); - for (const auto & joint : params_.command_joint_names) { + for (const auto & joint : params_.command_joint_names) + { command_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } @@ -161,7 +176,8 @@ controller_interface::InterfaceConfiguration DummyClassName::state_interface_con state_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL; state_interfaces_config.names.reserve(state_joint_names_.size()); - for (const auto & joint : state_joint_names_) { + for (const auto & joint : state_joint_names_) + { state_interfaces_config.names.push_back(joint + "/" + params_.interface_name); } @@ -171,16 +187,20 @@ controller_interface::InterfaceConfiguration DummyClassName::state_interface_con void DummyClassName::reference_callback(const std::shared_ptr msg) { // if no timestamp provided use current time for command timestamp - if (msg->header.stamp.sec == 0 && msg->header.stamp.nanosec == 0u) { + if (msg->header.stamp.sec == 0 && msg->header.stamp.nanosec == 0u) + { RCLCPP_WARN( get_node()->get_logger(), "Timestamp in header is missing, using current time as command " "timestamp."); msg->header.stamp = get_node()->now(); } - if (msg->joint_names.size() == params_.command_joint_names.size()) { + if (msg->joint_names.size() == params_.command_joint_names.size()) + { input_ref_.writeFromNonRT(msg); - } else { + } + else + { RCLCPP_ERROR( get_node()->get_logger(), "Received %zu , but expected %zu command_joint_names in command. Ignoring message.", @@ -206,7 +226,8 @@ controller_interface::CallbackReturn DummyClassName::on_deactivate( { // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop - for (size_t i = 0; i <= NR_CMD_ITFS; ++i) { + for (size_t i = 0; i <= NR_CMD_ITFS; ++i) + { command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN()); } return controller_interface::CallbackReturn::SUCCESS; @@ -219,9 +240,12 @@ controller_interface::return_type DummyClassName::update( // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, // instead of a loop - for (size_t i = 0; i < command_interfaces_.size(); ++i) { - if (!std::isnan((*current_ref)->displacements[i])) { - if (*(control_mode_.readFromRT()) == control_mode_type::SLOW) { + for (size_t i = 0; i < command_interfaces_.size(); ++i) + { + if (!std::isnan((*current_ref)->displacements[i])) + { + if (*(control_mode_.readFromRT()) == control_mode_type::SLOW) + { (*current_ref)->displacements[i] /= 2; } command_interfaces_[i].set_value((*current_ref)->displacements[i]); @@ -230,7 +254,8 @@ controller_interface::return_type DummyClassName::update( } } - if (state_publisher_ && state_publisher_->trylock()) { + if (state_publisher_ && state_publisher_->trylock()) + { state_publisher_->msg_.header.stamp = time; state_publisher_->msg_.set_point = command_interfaces_[NR_CMD_ITFS].get_value(); diff --git a/templates/ros2_control/controller/dummy_controller_params.yaml b/templates/ros2_control/controller/dummy_controller_params.yaml index dbd366cb..b591189c 100644 --- a/templates/ros2_control/controller/dummy_controller_params.yaml +++ b/templates/ros2_control/controller/dummy_controller_params.yaml @@ -5,6 +5,6 @@ test_dummy_controller: - joint1 interface_name: acceleration - + state_joint_names: - - joint1state \ No newline at end of file + - joint1state diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp index 9b9ce99f..44187e07 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp @@ -44,7 +44,8 @@ static constexpr size_t NR_CMD_ITFS = 0; static constexpr size_t NR_REF_ITFS = 0; // TODO(anyone: example setup for control mode (usually you will use some enums defined in messages) -enum class control_mode_type : std::uint8_t { +enum class control_mode_type : std::uint8_t +{ FAST = 0, SLOW = 1, }; diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp index 63a47306..6e557ca9 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp @@ -41,7 +41,8 @@ static constexpr size_t NR_STATE_ITFS = 0; static constexpr size_t NR_CMD_ITFS = 0; // TODO(anyone: example setup for control mode (usually you will use some enums defined in messages) -enum class control_mode_type : std::uint8_t { +enum class control_mode_type : std::uint8_t +{ FAST = 0, SLOW = 1, }; diff --git a/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp b/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp index 7468a1f7..0f283c0e 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp @@ -25,7 +25,8 @@ Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter) { auto const & interface_name = parameter.as_string(); - if (interface_name.rfind("blup_", 0) == 0) { + if (interface_name.rfind("blup_", 0) == 0) + { return ERROR("'interface_name' parameter can not start with 'blup_'"); } diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 6cef30e2..7150d1bb 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -55,25 +55,29 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i auto command_intefaces = controller_->command_interface_configuration(); ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); - for (size_t i = 0; i < command_intefaces.names.size(); ++i) { + for (size_t i = 0; i < command_intefaces.names.size(); ++i) + { EXPECT_EQ(command_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } auto state_intefaces = controller_->state_interface_configuration(); ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); - for (size_t i = 0; i < state_intefaces.names.size(); ++i) { + for (size_t i = 0; i < state_intefaces.names.size(); ++i) + { EXPECT_EQ(state_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } // check ref itfs auto reference_interfaces = controller_->export_reference_interfaces(); ASSERT_EQ(reference_interfaces.size(), NR_REF_ITFS); - for (size_t i = 0; i < NR_REF_ITFS; ++i) { + for (size_t i = 0; i < NR_REF_ITFS; ++i) + { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + state_joint_names_[i] + "/" + interface_name_; EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); - EXPECT_EQ(reference_interfaces[i].get_interface_name(), state_joint_names_[i] + "/" + interface_name_); + EXPECT_EQ( + reference_interfaces[i].get_interface_name(), state_joint_names_[i] + "/" + interface_name_); } } @@ -113,18 +117,21 @@ TEST_F(DummyClassNameTest, when_controller_is_activated_expect_reference_reset) // check that the message is reset auto msg = controller_->input_ref_.readFromNonRT(); EXPECT_EQ((*msg)->displacements.size(), command_joint_names_.size()); - for (const auto & cmd : (*msg)->displacements) { + for (const auto & cmd : (*msg)->displacements) + { EXPECT_TRUE(std::isnan(cmd)); } EXPECT_EQ((*msg)->velocities.size(), command_joint_names_.size()); - for (const auto & cmd : (*msg)->velocities) { + for (const auto & cmd : (*msg)->velocities) + { EXPECT_TRUE(std::isnan(cmd)); } ASSERT_TRUE(std::isnan((*msg)->duration)); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); - for (const auto & interface : controller_->reference_interfaces_) { + for (const auto & interface : controller_->reference_interfaces_) + { EXPECT_TRUE(std::isnan(interface)); } } @@ -283,7 +290,8 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); - for (const auto & interface : controller_->reference_interfaces_) { + for (const auto & interface : controller_->reference_interfaces_) + { EXPECT_TRUE(std::isnan(interface)); } } @@ -320,7 +328,8 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT / 2); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); - for (const auto & interface : controller_->reference_interfaces_) { + for (const auto & interface : controller_->reference_interfaces_) + { EXPECT_TRUE(std::isnan(interface)); } } @@ -340,7 +349,8 @@ TEST_F( ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_TRUE(controller_->is_in_chained_mode()); - for (const auto & interface : controller_->reference_interfaces_) { + for (const auto & interface : controller_->reference_interfaces_) + { EXPECT_TRUE(std::isnan(interface)); } // set mode to fast @@ -367,7 +377,8 @@ TEST_F( EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); - for (const auto & interface : controller_->reference_interfaces_) { + for (const auto & interface : controller_->reference_interfaces_) + { EXPECT_TRUE(std::isnan(interface)); } } @@ -387,7 +398,8 @@ TEST_F( ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_TRUE(controller_->is_in_chained_mode()); - for (const auto & interface : controller_->reference_interfaces_) { + for (const auto & interface : controller_->reference_interfaces_) + { EXPECT_TRUE(std::isnan(interface)); } @@ -412,7 +424,8 @@ TEST_F( // message is not touched in chained mode EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); - for (const auto & interface : controller_->reference_interfaces_) { + for (const auto & interface : controller_->reference_interfaces_) + { EXPECT_TRUE(std::isnan(interface)); } } diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index a6dd1079..4807fdb4 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -84,7 +84,8 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName { auto ret = dummy_package_namespace::DummyClassName::on_configure(previous_state); // Only if on_configure is successful create subscription - if (ret == CallbackReturn::SUCCESS) { + if (ret == CallbackReturn::SUCCESS) + { ref_subscriber_wait_set_.add_subscription(ref_subscriber_); } return ret; @@ -109,7 +110,8 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) { bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; - if (success) { + if (success) + { executor.spin_some(); } return success; @@ -162,7 +164,8 @@ class DummyClassNameFixture : public ::testing::Test command_itfs_.reserve(joint_command_values_.size()); command_ifs.reserve(joint_command_values_.size()); - for (size_t i = 0; i < joint_command_values_.size(); ++i) { + for (size_t i = 0; i < joint_command_values_.size(); ++i) + { command_itfs_.emplace_back(hardware_interface::CommandInterface( command_joint_names_[i], interface_name_, &joint_command_values_[i])); command_ifs.emplace_back(command_itfs_.back()); @@ -173,7 +176,8 @@ class DummyClassNameFixture : public ::testing::Test state_itfs_.reserve(joint_state_values_.size()); state_ifs.reserve(joint_state_values_.size()); - for (size_t i = 0; i < joint_state_values_.size(); ++i) { + for (size_t i = 0; i < joint_state_values_.size(); ++i) + { state_itfs_.emplace_back(hardware_interface::StateInterface( command_joint_names_[i], interface_name_, &joint_state_values_[i])); state_ifs.emplace_back(state_itfs_.back()); @@ -201,10 +205,12 @@ class DummyClassNameFixture : public ::testing::Test int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop rclcpp::WaitSet wait_set; // block used to wait on message wait_set.add_subscription(subscription); - while (max_sub_check_loop_count--) { + while (max_sub_check_loop_count--) + { controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)); // check if message has been received - if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) { + if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) + { break; } } @@ -221,10 +227,13 @@ class DummyClassNameFixture : public ::testing::Test const rclcpp::Time & stamp, const std::vector & displacements = {0.45}, const std::vector & velocities = {0.0}, const double duration = 1.25) { - auto wait_for_topic = [&](const auto topic_name) { + auto wait_for_topic = [&](const auto topic_name) + { size_t wait_count = 0; - while (command_publisher_node_->count_subscribers(topic_name) == 0) { - if (wait_count >= 5) { + while (command_publisher_node_->count_subscribers(topic_name) == 0) + { + if (wait_count >= 5) + { auto error_msg = std::string("publishing to ") + topic_name + " but no node subscribes to it"; throw std::runtime_error(error_msg); @@ -255,7 +264,8 @@ class DummyClassNameFixture : public ::testing::Test bool wait_for_service_ret = slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); EXPECT_TRUE(wait_for_service_ret); - if (!wait_for_service_ret) { + if (!wait_for_service_ret) + { throw std::runtime_error("Services is not available!"); } auto result = slow_control_service_client_->async_send_request(request); diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp index 5669f23b..41482c7f 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller_preceeding.cpp @@ -54,20 +54,23 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i auto command_intefaces = controller_->command_interface_configuration(); ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); - for (size_t i = 0; i < command_intefaces.names.size(); ++i) { + for (size_t i = 0; i < command_intefaces.names.size(); ++i) + { EXPECT_EQ(command_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } auto state_intefaces = controller_->state_interface_configuration(); ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); - for (size_t i = 0; i < state_intefaces.names.size(); ++i) { + for (size_t i = 0; i < state_intefaces.names.size(); ++i) + { EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); } // check ref itfs auto reference_interfaces = controller_->export_reference_interfaces(); ASSERT_EQ(reference_interfaces.size(), command_joint_names_.size()); - for (size_t i = 0; i < command_joint_names_.size(); ++i) { + for (size_t i = 0; i < command_joint_names_.size(); ++i) + { const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + state_joint_names_[i] + "/" + interface_name_; EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 810cb034..404c1d95 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -53,13 +53,15 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i auto command_intefaces = controller_->command_interface_configuration(); ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); - for (size_t i = 0; i < command_intefaces.names.size(); ++i) { + for (size_t i = 0; i < command_intefaces.names.size(); ++i) + { EXPECT_EQ(command_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } auto state_intefaces = controller_->state_interface_configuration(); ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); - for (size_t i = 0; i < state_intefaces.names.size(); ++i) { + for (size_t i = 0; i < state_intefaces.names.size(); ++i) + { EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); } } @@ -76,14 +78,16 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re auto reference = controller_->input_ref_.readFromNonRT(); auto old_timestamp = (*reference)->header.stamp; - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ( + (*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*reference)->displacements[0])); EXPECT_TRUE(std::isnan((*reference)->velocities[0])); EXPECT_TRUE(std::isnan((*reference)->duration)); publish_commands(controller_->get_node()->now(), {"joint1", "joint2"}); ASSERT_TRUE(controller_->wait_for_commands(executor)); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ( + (*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->velocities[0])); @@ -100,11 +104,13 @@ TEST_F(DummyClassNameTest, when_controller_is_activated_expect_reference_reset) // check that the message is reset auto msg = controller_->input_ref_.readFromNonRT(); EXPECT_EQ((*msg)->displacements.size(), command_joint_names_.size()); - for (const auto & cmd : (*msg)->displacements) { + for (const auto & cmd : (*msg)->displacements) + { EXPECT_TRUE(std::isnan(cmd)); } EXPECT_EQ((*msg)->velocities.size(), command_joint_names_.size()); - for (const auto & cmd : (*msg)->velocities) { + for (const auto & cmd : (*msg)->velocities) + { EXPECT_TRUE(std::isnan(cmd)); } diff --git a/templates/ros2_control/controller/test_dummy_controller.hpp b/templates/ros2_control/controller/test_dummy_controller.hpp index 9136c13a..9281705c 100644 --- a/templates/ros2_control/controller/test_dummy_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_controller.hpp @@ -70,7 +70,8 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName { auto ret = dummy_package_namespace::DummyClassName::on_configure(previous_state); // Only if on_configure is successful create subscription - if (ret == CallbackReturn::SUCCESS) { + if (ret == CallbackReturn::SUCCESS) + { ref_subscriber_wait_set_.add_subscription(ref_subscriber_); } return ret; @@ -88,7 +89,8 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName const std::chrono::milliseconds & timeout = std::chrono::milliseconds{500}) { bool success = subscriber_wait_set.wait(timeout).kind() == rclcpp::WaitResultKind::Ready; - if (success) { + if (success) + { executor.spin_some(); } return success; @@ -141,7 +143,8 @@ class DummyClassNameFixture : public ::testing::Test command_itfs_.reserve(joint_command_values_.size()); command_ifs.reserve(joint_command_values_.size()); - for (size_t i = 0; i < joint_command_values_.size(); ++i) { + for (size_t i = 0; i < joint_command_values_.size(); ++i) + { command_itfs_.emplace_back(hardware_interface::CommandInterface( command_joint_names_[i], interface_name_, &joint_command_values_[i])); command_ifs.emplace_back(command_itfs_.back()); @@ -152,7 +155,8 @@ class DummyClassNameFixture : public ::testing::Test state_itfs_.reserve(joint_state_values_.size()); state_ifs.reserve(joint_state_values_.size()); - for (size_t i = 0; i < joint_state_values_.size(); ++i) { + for (size_t i = 0; i < joint_state_values_.size(); ++i) + { state_itfs_.emplace_back(hardware_interface::StateInterface( command_joint_names_[i], interface_name_, &joint_state_values_[i])); state_ifs.emplace_back(state_itfs_.back()); @@ -180,10 +184,12 @@ class DummyClassNameFixture : public ::testing::Test int max_sub_check_loop_count = 5; // max number of tries for pub/sub loop rclcpp::WaitSet wait_set; // block used to wait on message wait_set.add_subscription(subscription); - while (max_sub_check_loop_count--) { + while (max_sub_check_loop_count--) + { controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)); // check if message has been received - if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) { + if (wait_set.wait(std::chrono::milliseconds(2)).kind() == rclcpp::WaitResultKind::Ready) + { break; } } @@ -197,14 +203,17 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): add/remove arguments as it suites your command message type void publish_commands( - const rclcpp::Time & stamp, const std::vector & joint_names = {"joint1_test"}, + const rclcpp::Time & stamp, const std::vector & joint_names = {"joint1_test"}, const std::vector & displacements = {0.45}, const std::vector & velocities = {0.0}, const double duration = 1.25) { - auto wait_for_topic = [&](const auto topic_name) { + auto wait_for_topic = [&](const auto topic_name) + { size_t wait_count = 0; - while (command_publisher_node_->count_subscribers(topic_name) == 0) { - if (wait_count >= 5) { + while (command_publisher_node_->count_subscribers(topic_name) == 0) + { + if (wait_count >= 5) + { auto error_msg = std::string("publishing to ") + topic_name + " but no node subscribes to it"; throw std::runtime_error(error_msg); @@ -235,7 +244,8 @@ class DummyClassNameFixture : public ::testing::Test bool wait_for_service_ret = slow_control_service_client_->wait_for_service(std::chrono::milliseconds(500)); EXPECT_TRUE(wait_for_service_ret); - if (!wait_for_service_ret) { + if (!wait_for_service_ret) + { throw std::runtime_error("Services is not available!"); } auto result = slow_control_service_client_->async_send_request(request); diff --git a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp index 177e4d26..4e3eca03 100644 --- a/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp +++ b/templates/ros2_control/controller/test_dummy_controller_preceeding.cpp @@ -54,13 +54,15 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i auto command_intefaces = controller_->command_interface_configuration(); ASSERT_EQ(command_intefaces.names.size(), joint_command_values_.size()); - for (size_t i = 0; i < command_intefaces.names.size(); ++i) { + for (size_t i = 0; i < command_intefaces.names.size(); ++i) + { EXPECT_EQ(command_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); } auto state_intefaces = controller_->state_interface_configuration(); ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); - for (size_t i = 0; i < state_intefaces.names.size(); ++i) { + for (size_t i = 0; i < state_intefaces.names.size(); ++i) + { EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); } } diff --git a/templates/ros2_control/hardware/robot_hardware_interface.cpp b/templates/ros2_control/hardware/robot_hardware_interface.cpp index 263c63a0..a03ae9c1 100644 --- a/templates/ros2_control/hardware/robot_hardware_interface.cpp +++ b/templates/ros2_control/hardware/robot_hardware_interface.cpp @@ -24,7 +24,8 @@ namespace dummy_package_namespace hardware_interface::CallbackReturn DummyClassName::on_init( const hardware_interface::HardwareInfo & info) { - if (hardware_interface::Dummy_Interface_TypeInterface::on_init(info) != CallbackReturn::SUCCESS) { + if (hardware_interface::Dummy_Interface_TypeInterface::on_init(info) != CallbackReturn::SUCCESS) + { return CallbackReturn::ERROR; } @@ -46,7 +47,8 @@ hardware_interface::CallbackReturn DummyClassName::on_configure( std::vector DummyClassName::export_state_interfaces() { std::vector state_interfaces; - for (size_t i = 0; i < info_.joints.size(); ++i) { + for (size_t i = 0; i < info_.joints.size(); ++i) + { state_interfaces.emplace_back(hardware_interface::StateInterface( // TODO(anyone): insert correct interfaces info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i])); @@ -58,7 +60,8 @@ std::vector DummyClassName::export_state_int std::vector DummyClassName::export_command_interfaces() { std::vector command_interfaces; - for (size_t i = 0; i < info_.joints.size(); ++i) { + for (size_t i = 0; i < info_.joints.size(); ++i) + { command_interfaces.emplace_back(hardware_interface::CommandInterface( // TODO(anyone): insert correct interfaces info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_commands_[i])); diff --git a/templates/ros2_control/test_forward_position_controller.launch.py b/templates/ros2_control/test_forward_position_controller.launch.py index 81870304..d493cc4a 100644 --- a/templates/ros2_control/test_forward_position_controller.launch.py +++ b/templates/ros2_control/test_forward_position_controller.launch.py @@ -23,7 +23,6 @@ def generate_launch_description(): - position_goals = PathJoinSubstitution( [FindPackageShare("$PKG_NAME$"), "config", "test_goal_publishers_config.yaml"] ) diff --git a/templates/ros2_control/test_joint_trajectory_controller.launch.py b/templates/ros2_control/test_joint_trajectory_controller.launch.py index b86ae4e1..cec9ac09 100644 --- a/templates/ros2_control/test_joint_trajectory_controller.launch.py +++ b/templates/ros2_control/test_joint_trajectory_controller.launch.py @@ -23,7 +23,6 @@ def generate_launch_description(): - position_goals = PathJoinSubstitution( [FindPackageShare("$PKG_NAME$"), "config", "test_goal_publishers_config.yaml"] ) From 1ab15d7de5b0b2c60687680c1527e8fe9e19dc6a Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Thu, 23 Mar 2023 19:15:21 +0100 Subject: [PATCH 23/38] all tests pass except two --- .../controller/dummy_chainable_controller.cpp | 8 ++- .../dummy_chainable_controller.hpp | 8 +-- .../test_dummy_chainable_controller.cpp | 52 +++++++++---------- .../test_dummy_chainable_controller.hpp | 13 +++-- 4 files changed, 41 insertions(+), 40 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index e1d12ee3..11f0258a 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -195,6 +195,7 @@ void DummyClassName::reference_callback(const std::shared_ptrheader.stamp = get_node()->now(); } + if (msg->joint_names.size() == params_.command_joint_names.size()) { input_ref_.writeFromNonRT(msg); @@ -287,12 +288,17 @@ controller_interface::return_type DummyClassName::update_and_write_commands( reference_interfaces_[i] = std::numeric_limits::quiet_NaN(); } + else + { + command_interfaces_[i].set_value(0.0); + } + } if (state_publisher_ && state_publisher_->trylock()) { state_publisher_->msg_.header.stamp = time; - state_publisher_->msg_.set_point = command_interfaces_[NR_CMD_ITFS].get_value(); + state_publisher_->msg_.set_point = command_interfaces_[NR_CMD_ITFS-1].get_value(); state_publisher_->unlockAndPublish(); } diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp index 44187e07..bd3dc7d2 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) +// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt) (template) // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -35,13 +35,13 @@ namespace dummy_package_namespace { // name constants for state interfaces -static constexpr size_t NR_STATE_ITFS = 0; +static constexpr size_t NR_STATE_ITFS = 1; // name constants for command interfaces -static constexpr size_t NR_CMD_ITFS = 0; +static constexpr size_t NR_CMD_ITFS = 1; // name constants for reference interfaces -static constexpr size_t NR_REF_ITFS = 0; +static constexpr size_t NR_REF_ITFS = 1; // TODO(anyone: example setup for control mode (usually you will use some enums defined in messages) enum class control_mode_type : std::uint8_t diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 7150d1bb..982d8bb8 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -42,7 +42,6 @@ TEST_F(DummyClassNameTest, when_controller_is_configured_expect_all_parameters_s ASSERT_THAT( controller_->params_.command_joint_names, testing::ElementsAreArray(command_joint_names_)); - ASSERT_TRUE(controller_->params_.state_joint_names.empty()); ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_)); ASSERT_EQ(controller_->params_.interface_name, interface_name_); } @@ -64,7 +63,7 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i ASSERT_EQ(state_intefaces.names.size(), joint_state_values_.size()); for (size_t i = 0; i < state_intefaces.names.size(); ++i) { - EXPECT_EQ(state_intefaces.names[i], command_joint_names_[i] + "/" + interface_name_); + EXPECT_EQ(state_intefaces.names[i], state_joint_names_[i] + "/" + interface_name_); } // check ref itfs @@ -72,8 +71,8 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i ASSERT_EQ(reference_interfaces.size(), NR_REF_ITFS); for (size_t i = 0; i < NR_REF_ITFS; ++i) { - const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + - state_joint_names_[i] + "/" + interface_name_; + const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + + state_joint_names_[i] + "/" + interface_name_; EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); EXPECT_EQ( @@ -93,15 +92,15 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re auto reference = controller_->input_ref_.readFromNonRT(); auto old_timestamp = (*reference)->header.stamp; - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), joint_names_.size()); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], joint_names_[0]); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*reference)->displacements[0])); EXPECT_TRUE(std::isnan((*reference)->velocities[0])); EXPECT_TRUE(std::isnan((*reference)->duration)); - publish_commands(controller_->get_node()->now(), {"joint1", "joint2"}); + publish_commands(controller_->get_node()->now(), {TEST_DISPLACEMENT}, {"joint1", "joint2"}); ASSERT_TRUE(controller_->wait_for_commands(executor)); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), joint_names_.size()); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], joint_names_[0]); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->velocities[0])); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->duration)); @@ -164,11 +163,11 @@ TEST_F( ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->command_interfaces_[NR_CMD_ITFS].get_value(), 101.101); + ASSERT_EQ(controller_->command_interfaces_[NR_CMD_ITFS-1].get_value(), 101.101); ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS].get_value())); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS-1].get_value())); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS].get_value())); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS-1].get_value())); ASSERT_EQ( controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), @@ -184,7 +183,7 @@ TEST_F(DummyClassNameTest, when_update_is_called_expect_status_message) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - controller_->reference_interfaces_[0] = 1.5; + controller_->reference_interfaces_[NR_STATE_ITFS-1] = 1.5; ControllerStateMsg msg; subscribe_to_controller_status_execute_update_and_get_messages(msg); @@ -238,7 +237,7 @@ TEST_F(DummyClassNameTest, when_reference_msg_received_expect_updated_commands_a ControllerStateMsg msg; subscribe_to_controller_status_execute_update_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 101.101); + ASSERT_EQ(msg.set_point, 0.0); joint_command_values_[0] = TEST_DISPLACEMENT; // reference_callback() is implicitly called when publish_commands() is called @@ -272,8 +271,6 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_FALSE(controller_->is_in_chained_mode()); - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; std::shared_ptr msg = std::make_shared(); msg->joint_names = command_joint_names_; msg->displacements.resize(command_joint_names_.size(), TEST_DISPLACEMENT); @@ -286,7 +283,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for controller_interface::return_type::OK); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS - 1], TEST_DISPLACEMENT); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); @@ -308,8 +305,6 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_FALSE(controller_->is_in_chained_mode()); - // set command statically - static constexpr double TEST_DISPLACEMENT = 23.24; std::shared_ptr msg = std::make_shared(); // When slow mode is enabled command ends up being half of the value msg->joint_names = command_joint_names_; @@ -325,9 +320,10 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT / 2); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS - 1], TEST_DISPLACEMENT / 2); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); + for (const auto & interface : controller_->reference_interfaces_) { EXPECT_TRUE(std::isnan(interface)); @@ -336,8 +332,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for TEST_F( DummyClassNameTest, - when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces - _directly_with_fast_mode_logic_effect) + when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -356,12 +351,14 @@ TEST_F( // set mode to fast controller_->control_mode_.writeFromNonRT(control_mode_type::FAST); // this is input source in chained mode - controller_->reference_interfaces_[NR_STATE_ITFS] = TEST_DISPLACEMENT * 2; + controller_->reference_interfaces_[NR_STATE_ITFS - 1] = TEST_DISPLACEMENT * 2; // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) // is called publish_commands(controller_->get_node()->now(), {TEST_DISPLACEMENT}); + ASSERT_TRUE(controller_->wait_for_commands(executor)); + EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); @@ -372,7 +369,7 @@ TEST_F( EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); // reference_interfaces is directly applied - EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT * 2); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS - 1], TEST_DISPLACEMENT * 2); // message is not touched in chained mode EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); @@ -385,8 +382,7 @@ TEST_F( TEST_F( DummyClassNameTest, - when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces - _directly_with_slow_mode_logic_effect) + when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -406,7 +402,7 @@ TEST_F( // set mode to slow controller_->control_mode_.writeFromNonRT(control_mode_type::SLOW); // this is input source in chained mode - controller_->reference_interfaces_[NR_STATE_ITFS] = TEST_DISPLACEMENT * 4; + controller_->reference_interfaces_[NR_STATE_ITFS - 1] = TEST_DISPLACEMENT * 4; // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) // is called @@ -420,7 +416,7 @@ TEST_F( controller_interface::return_type::OK); // reference_interfaces is directly applied / expected slow mode logic effect - EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT * 2); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS - 1], TEST_DISPLACEMENT * 2); // message is not touched in chained mode EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index 4807fdb4..5710fbba 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -66,12 +66,10 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for_slow_mode); FRIEND_TEST( DummyClassNameTest, - when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces - _directly_with_fast_mode_logic_effect); + when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect); FRIEND_TEST( DummyClassNameTest, - when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces - _directly_with_slow_mode_logic_effect); + when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect); FRIEND_TEST( DummyClassNameTest, when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time); @@ -224,7 +222,8 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): add/remove arguments as it suites your command message type void publish_commands( - const rclcpp::Time & stamp, const std::vector & displacements = {0.45}, + const rclcpp::Time & stamp, const std::vector & displacements = {0.45}, + const std::vector & joint_names = {"joint1_test"}, const std::vector & velocities = {0.0}, const double duration = 1.25) { auto wait_for_topic = [&](const auto topic_name) @@ -235,7 +234,7 @@ class DummyClassNameFixture : public ::testing::Test if (wait_count >= 5) { auto error_msg = - std::string("publishing to ") + topic_name + " but no node subscribes to it"; + std::string("publishing to ") + topic_name + " but no node subscribes to it"; throw std::runtime_error(error_msg); } std::this_thread::sleep_for(std::chrono::milliseconds(100)); @@ -247,7 +246,7 @@ class DummyClassNameFixture : public ::testing::Test ControllerReferenceMsg msg; msg.header.stamp = stamp; - msg.joint_names = command_joint_names_; + msg.joint_names = joint_names; msg.displacements = displacements; msg.velocities = velocities; msg.duration = duration; From d79cea1f2763e692892444d1177c978e46bc763f Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Mon, 3 Apr 2023 13:22:46 +0200 Subject: [PATCH 24/38] correction --- .../ros2_control/controller/dummy_chainable_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 11f0258a..305e0e37 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -219,7 +219,7 @@ std::vector DummyClassName::on_export_refe for (size_t i = 0; i < NR_REF_ITFS; ++i) { reference_interfaces.push_back(hardware_interface::CommandInterface( - get_node()->get_name(), state_joints_[i] + "/" + params_.interface_name, + get_node()->get_name(), state_joint_names_[i] + "/" + params_.interface_name, &reference_interfaces_[i])); } From cdd177922d5e1e1b55987df98a7e64ee3a302022 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Mon, 3 Apr 2023 15:03:53 +0200 Subject: [PATCH 25/38] corrections --- .../ros2_control/controller/dummy_chainable_controller.cpp | 2 -- .../controller/test_dummy_chainable_controller.cpp | 4 ++-- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 305e0e37..e56610a0 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -264,8 +264,6 @@ controller_interface::return_type DummyClassName::update_reference_from_subscrib if (!std::isnan((*current_ref)->displacements[i])) { reference_interfaces_[i] = (*current_ref)->displacements[i]; - - (*current_ref)->displacements[i] = std::numeric_limits::quiet_NaN(); } } return controller_interface::return_type::OK; diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 982d8bb8..2d84ad2a 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -284,7 +284,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); EXPECT_EQ(joint_command_values_[NR_STATE_ITFS - 1], TEST_DISPLACEMENT); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); + EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); for (const auto & interface : controller_->reference_interfaces_) @@ -321,7 +321,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for controller_interface::return_type::OK); EXPECT_EQ(joint_command_values_[NR_STATE_ITFS - 1], TEST_DISPLACEMENT / 2); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); + EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(controller_->reference_interfaces_.size(), command_joint_names_.size()); for (const auto & interface : controller_->reference_interfaces_) From 541215e3e53a72355270697130216f0e70f9d6a4 Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Mon, 3 Apr 2023 15:12:52 +0200 Subject: [PATCH 26/38] correction --- templates/ros2_control/controller/dummy_controller.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/templates/ros2_control/controller/dummy_controller.cpp b/templates/ros2_control/controller/dummy_controller.cpp index 4ae33063..37e965bd 100644 --- a/templates/ros2_control/controller/dummy_controller.cpp +++ b/templates/ros2_control/controller/dummy_controller.cpp @@ -250,7 +250,9 @@ controller_interface::return_type DummyClassName::update( } command_interfaces_[i].set_value((*current_ref)->displacements[i]); - (*current_ref)->displacements[i] = std::numeric_limits::quiet_NaN(); + }else + { + command_interfaces_[i].set_value(0.0); } } From 5c485e78aae16b825a6a9d273a3b3878138f894a Mon Sep 17 00:00:00 2001 From: GiridharBukka Date: Mon, 3 Apr 2023 15:40:25 +0200 Subject: [PATCH 27/38] corrections --- .../controller/test_dummy_controller.cpp | 23 +++++++++++++++---- 1 file changed, 18 insertions(+), 5 deletions(-) diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 404c1d95..8138b4f0 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -162,17 +162,30 @@ TEST_F(DummyClassNameTest, when_update_is_called_expect_status_message) { SetUpController(); + rclcpp::executors::MultiThreadedExecutor executor; + executor.add_node(controller_->get_node()->get_node_base_interface()); + ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); + // reference_callback() is implicitly called when publish_commands() is called + // reference_msg is published with provided time stamp when publish_commands( time_stamp) + // is called + //setting ref msg here + publish_commands(controller_->get_node()->now()); + ASSERT_TRUE(controller_->wait_for_commands(executor)); + ASSERT_EQ( controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); + //checking if previously set reference msg persists + EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], 0.45); + ControllerStateMsg msg; subscribe_to_controller_status_execute_update_and_get_messages(msg); - EXPECT_EQ(msg.set_point, 101.101); + EXPECT_EQ(msg.set_point, 0.45); } TEST_F( @@ -226,7 +239,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); + EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); } @@ -256,7 +269,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for controller_interface::return_type::OK); EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT / 2); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->displacements[0])); + EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT/2); } // reference_interfaces and command_interfaces values depend on the reference_msg, @@ -277,8 +290,8 @@ TEST_F(DummyClassNameTest, when_reference_msg_received_expect_updated_commands_a ControllerStateMsg msg; subscribe_to_controller_status_execute_update_and_get_messages(msg); - ASSERT_EQ(msg.set_point, 101.101); - joint_command_values_[0] = TEST_DISPLACEMENT; + ASSERT_EQ(msg.set_point, 0.0); + joint_command_values_[0] = 0.0; // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) From d0c6f70683fc4327fe7f7ba48db7a35af073b382 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 16 May 2023 06:38:36 +0200 Subject: [PATCH 28/38] Add Changes from master. --- .clang-format | 16 +- .pre-commit-config.yaml | 141 +- docs/_themes/sphinx_rtd_theme/__init__.py | 20 +- docs/_themes/sphinx_rtd_theme/footer.html | 2 +- .../locale/de/LC_MESSAGES/sphinx.po | 4 +- .../locale/en/LC_MESSAGES/sphinx.po | 3 +- .../locale/es/LC_MESSAGES/sphinx.po | 8 +- .../locale/et/LC_MESSAGES/sphinx.po | 6 +- .../locale/fr/LC_MESSAGES/sphinx.po | 10 +- .../locale/nl/LC_MESSAGES/sphinx.po | 6 +- .../locale/pt_BR/LC_MESSAGES/sphinx.po | 6 +- .../locale/ru/LC_MESSAGES/sphinx.po | 6 +- .../sphinx_rtd_theme/locale/sphinx.pot | 3 +- .../locale/sv/LC_MESSAGES/sphinx.po | 6 +- .../locale/tr/LC_MESSAGES/sphinx.po | 6 +- .../locale/zh_CN/LC_MESSAGES/sphinx.po | 6 +- .../static/css/badge_only.css | 2 +- .../static/css/fonts/fontawesome-webfont.svg | 1418 ++++++++--------- .../sphinx_rtd_theme/static/css/theme.css | 2 +- .../sphinx_rtd_theme/static/js/badge_only.js | 2 +- .../sphinx_rtd_theme/static/js/theme.js | 2 +- docs/conf.py | 13 + 22 files changed, 774 insertions(+), 914 deletions(-) mode change 100644 => 120000 .clang-format mode change 100644 => 120000 .pre-commit-config.yaml diff --git a/.clang-format b/.clang-format deleted file mode 100644 index 9c21e1e1..00000000 --- a/.clang-format +++ /dev/null @@ -1,15 +0,0 @@ ---- -Language: Cpp -BasedOnStyle: Google - -ColumnLimit: 100 -AccessModifierOffset: -2 -AlignAfterOpenBracket: AlwaysBreak -BreakBeforeBraces: Allman -ConstructorInitializerIndentWidth: 0 -ContinuationIndentWidth: 2 -DerivePointerAlignment: false -PointerAlignment: Middle -ReflowComments: false -IncludeBlocks: Preserve -... diff --git a/.clang-format b/.clang-format new file mode 120000 index 00000000..8059edc5 --- /dev/null +++ b/.clang-format @@ -0,0 +1 @@ +templates/package/.clang-format \ No newline at end of file diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml deleted file mode 100644 index 38dd9a11..00000000 --- a/.pre-commit-config.yaml +++ /dev/null @@ -1,140 +0,0 @@ - -# To use: -# -# pre-commit run -a -# -# Or: -# -# pre-commit install # (runs every time you commit in git) -# -# To update this file: -# -# pre-commit autoupdate -# -# See https://github.com/pre-commit/pre-commit - -repos: - # Standard hooks - - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 - hooks: - - id: check-added-large-files - - id: check-ast - - id: check-case-conflict - - id: check-docstring-first - - id: check-merge-conflict - - id: check-symlinks - - id: check-xml - - id: check-yaml - - id: debug-statements - - id: end-of-file-fixer - - id: mixed-line-ending - - id: trailing-whitespace - exclude_types: [rst] - - id: fix-byte-order-marker - - - # Python hooks - - repo: https://github.com/asottile/pyupgrade - rev: v3.3.1 - hooks: - - id: pyupgrade - args: [--py36-plus] - - # PyDocStyle - - repo: https://github.com/PyCQA/pydocstyle - rev: 6.3.0 - hooks: - - id: pydocstyle - args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"] - - - repo: https://github.com/psf/black - rev: 23.1.0 - hooks: - - id: black - args: ["--line-length=99"] - - - repo: https://github.com/pycqa/flake8 - rev: 6.0.0 - hooks: - - id: flake8 - args: ["--extend-ignore=E501"] - - # CPP hooks - - repo: local - hooks: - - id: clang-format - name: clang-format - description: Format files with ClangFormat. - entry: clang-format-12 - language: system - files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$ - args: ['-fallback-style=none', '-i'] - - - repo: local - hooks: - - id: ament_cppcheck - name: ament_cppcheck - description: Static code analysis of C/C++ files. - stages: [commit] - entry: ament_cppcheck - language: system - files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$ - - # Maybe use https://github.com/cpplint/cpplint instead - - repo: local - hooks: - - id: ament_cpplint - name: ament_cpplint - description: Static code analysis of C/C++ files. - stages: [commit] - entry: ament_cpplint - language: system - files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$ - args: ["--linelength=100", "--filter=-whitespace/newline"] - - # Cmake hooks - - repo: local - hooks: - - id: ament_lint_cmake - name: ament_lint_cmake - description: Check format of CMakeLists.txt files. - stages: [commit] - entry: ament_lint_cmake - language: system - files: CMakeLists\.txt$ - - # Copyright - - repo: local - hooks: - - id: ament_copyright - name: ament_copyright - description: Check if copyright notice is available in all files. - stages: [commit] - entry: ament_copyright - language: system - - # Docs - RestructuredText hooks - - repo: https://github.com/PyCQA/doc8 - rev: v1.1.1 - hooks: - - id: doc8 - args: ['--max-line-length=100', '--ignore=D001'] - exclude: CHANGELOG\.rst$ - - - repo: https://github.com/pre-commit/pygrep-hooks - rev: v1.10.0 - hooks: - - id: rst-backticks - exclude: CHANGELOG\.rst$ - - id: rst-directive-colons - - id: rst-inline-touching-normal - - # Spellcheck in comments and docs - # skipping of *.svg files is not working... - - repo: https://github.com/codespell-project/codespell - rev: v2.2.4 - hooks: - - id: codespell - args: ['--write-changes'] - exclude: CHANGELOG\.rst|\.(svg|pyc)$ diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 120000 index 00000000..49d1ea79 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1 @@ +templates/package/.pre-commit-config.yaml \ No newline at end of file diff --git a/docs/_themes/sphinx_rtd_theme/__init__.py b/docs/_themes/sphinx_rtd_theme/__init__.py index 51719da5..b4d72c99 100644 --- a/docs/_themes/sphinx_rtd_theme/__init__.py +++ b/docs/_themes/sphinx_rtd_theme/__init__.py @@ -10,13 +10,13 @@ from sphinx.locale import _ try: - # Available from Sphinx 1.6 + # Avaliable from Sphinx 1.6 from sphinx.util.logging import getLogger except ImportError: from logging import getLogger -__version__ = "0.5.1" +__version__ = '0.5.1' __version_full__ = __version__ logger = getLogger(__name__) @@ -30,11 +30,9 @@ def get_html_theme_path(): def config_initiated(app, config): theme_options = config.html_theme_options or {} - if theme_options.get("canonical_url"): + if theme_options.get('canonical_url'): logger.warning( - _( - "The canonical_url option is deprecated, use the html_baseurl option from Sphinx instead." - ) + _('The canonical_url option is deprecated, use the html_baseurl option from Sphinx instead.') ) @@ -42,13 +40,13 @@ def config_initiated(app, config): def setup(app): if version_info >= (1, 6, 0): # Register the theme that can be referenced without adding a theme path - app.add_html_theme("sphinx_rtd_theme", path.abspath(path.dirname(__file__))) + app.add_html_theme('sphinx_rtd_theme', path.abspath(path.dirname(__file__))) if version_info >= (1, 8, 0): # Add Sphinx message catalog for newer versions of Sphinx # See http://www.sphinx-doc.org/en/master/extdev/appapi.html#sphinx.application.Sphinx.add_message_catalog - rtd_locale_path = path.join(path.abspath(path.dirname(__file__)), "locale") - app.add_message_catalog("sphinx", rtd_locale_path) - app.connect("config-inited", config_initiated) + rtd_locale_path = path.join(path.abspath(path.dirname(__file__)), 'locale') + app.add_message_catalog('sphinx', rtd_locale_path) + app.connect('config-inited', config_initiated) - return {"parallel_read_safe": True, "parallel_write_safe": True} + return {'parallel_read_safe': True, 'parallel_write_safe': True} diff --git a/docs/_themes/sphinx_rtd_theme/footer.html b/docs/_themes/sphinx_rtd_theme/footer.html index 9005ec40..1284a243 100644 --- a/docs/_themes/sphinx_rtd_theme/footer.html +++ b/docs/_themes/sphinx_rtd_theme/footer.html @@ -50,7 +50,7 @@ {% set readthedocs_web = 'Read the Docs' %} {# Translators: the variable "sphinx_web" is a link to the Sphinx project documentation with the text "Sphinx" #} {% trans sphinx_web=sphinx_web, readthedocs_web=readthedocs_web %}Built with {{ sphinx_web }} using a{% endtrans %} - {# Translators: "theme" refers to a theme for Sphinx, which alters the appearance of the generated documentation #} + {# Translators: "theme" refers to a theme for Sphinx, which alters the appearance of the generated documenation #} {% trans %}theme{% endtrans %} {# Translators: this is always used as "provided by Read the Docs", and should not imply Read the Docs is an author of the generated documentation. #} {% trans %}provided by {{ readthedocs_web }}{% endtrans %}. diff --git a/docs/_themes/sphinx_rtd_theme/locale/de/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/de/LC_MESSAGES/sphinx.po index f13312ab..44b82f29 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/de/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/de/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Tom Kunze , 2019 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" diff --git a/docs/_themes/sphinx_rtd_theme/locale/en/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/en/LC_MESSAGES/sphinx.po index f4004140..76653641 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/en/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/en/LC_MESSAGES/sphinx.po @@ -76,7 +76,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "" @@ -161,3 +161,4 @@ msgstr "" #~ msgid "Documentation Home" #~ msgstr "" + diff --git a/docs/_themes/sphinx_rtd_theme/locale/es/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/es/LC_MESSAGES/sphinx.po index bae45320..f7e07777 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/es/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/es/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Anthony , 2019 # Leonardo J. Caballero G. , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -71,7 +71,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Construido con %(sphinx_web)s usando un" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "tema" @@ -102,7 +102,7 @@ msgstr "Búsqueda" #: sphinx_rtd_theme/layout.html:102 msgid "Copyright" -msgstr "Derechos de author" +msgstr "Derechos de autor" #: sphinx_rtd_theme/layout.html:134 msgid "Logo" diff --git a/docs/_themes/sphinx_rtd_theme/locale/et/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/et/LC_MESSAGES/sphinx.po index 80b2ff44..33f2ed7d 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/et/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/et/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Anthony , 2020 # Ivar Smolin , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -71,7 +71,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Ehitatud %(sphinx_web)s'iga," #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "kujundusteema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/fr/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/fr/LC_MESSAGES/sphinx.po index 0668b15c..92634861 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/fr/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/fr/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Radina Matic , 2020 # Anthony , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -71,7 +71,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Compilé avec %(sphinx_web)s en utilisant un" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "thème" @@ -110,7 +110,7 @@ msgstr "Logo" #: sphinx_rtd_theme/search.html:31 msgid "Please activate JavaScript to enable the search functionality." -msgstr "Activez JavaScript pour accéder à la function de recherche." +msgstr "Activez JavaScript pour accéder à la fonction de recherche." #. Search is a noun, not a verb #: sphinx_rtd_theme/search.html:39 @@ -140,7 +140,7 @@ msgstr "Téléchargements" #: sphinx_rtd_theme/versions.html:26 msgid "Project Home" -msgstr "Accueil du project" +msgstr "Accueil du projet" #: sphinx_rtd_theme/versions.html:29 msgid "Builds" diff --git a/docs/_themes/sphinx_rtd_theme/locale/nl/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/nl/LC_MESSAGES/sphinx.po index fe1534d2..464d68fe 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/nl/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/nl/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Jesse Tan, 2019 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -70,7 +70,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Gebouwd met %(sphinx_web)s met een" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "thema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/pt_BR/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/pt_BR/LC_MESSAGES/sphinx.po index 4c0a0da6..eb1ff5b7 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/pt_BR/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/pt_BR/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Rafael Fontenelle , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -70,7 +70,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Compilado com %(sphinx_web)s usando um" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "tema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/ru/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/ru/LC_MESSAGES/sphinx.po index 4b1c92f9..7b6564a7 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/ru/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/ru/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Dmitry Shachnev , 2019 # lvv83 , 2019 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -71,7 +71,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Собрано при помощи %(sphinx_web)s с использованием" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "темы," diff --git a/docs/_themes/sphinx_rtd_theme/locale/sphinx.pot b/docs/_themes/sphinx_rtd_theme/locale/sphinx.pot index 823adc46..e4e0783f 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/sphinx.pot +++ b/docs/_themes/sphinx_rtd_theme/locale/sphinx.pot @@ -75,7 +75,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "" @@ -151,3 +151,4 @@ msgstr "" #: sphinx_rtd_theme/versions.html:29 msgid "Builds" msgstr "" + diff --git a/docs/_themes/sphinx_rtd_theme/locale/sv/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/sv/LC_MESSAGES/sphinx.po index 8f9a8ab9..78d91a85 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/sv/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/sv/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Daniel Holmberg , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -70,7 +70,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "Gjord med %(sphinx_web)s med hjälp av" #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "tema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/tr/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/tr/LC_MESSAGES/sphinx.po index 76e83c63..3705a814 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/tr/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/tr/LC_MESSAGES/sphinx.po @@ -3,10 +3,10 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # BouRock, 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -62,7 +62,7 @@ msgid "Last updated on %(last_updated)s." msgstr "Son olarak %(last_updated)s tarihinde güncellendi." #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "tema" diff --git a/docs/_themes/sphinx_rtd_theme/locale/zh_CN/LC_MESSAGES/sphinx.po b/docs/_themes/sphinx_rtd_theme/locale/zh_CN/LC_MESSAGES/sphinx.po index 367d1e7b..26dfb322 100644 --- a/docs/_themes/sphinx_rtd_theme/locale/zh_CN/LC_MESSAGES/sphinx.po +++ b/docs/_themes/sphinx_rtd_theme/locale/zh_CN/LC_MESSAGES/sphinx.po @@ -3,11 +3,11 @@ # This file is distributed under the same license as the sphinx_rtd_theme # project. # FIRST AUTHOR , 2019. -# +# # Translators: # Anthony , 2020 # 王赛 , 2020 -# +# msgid "" msgstr "" "Project-Id-Version: sphinx_rtd_theme 0.4.3.dev0\n" @@ -66,7 +66,7 @@ msgid "Built with %(sphinx_web)s using a" msgstr "利用 %(sphinx_web)s 构建，使用了 " #. "theme" refers to a theme for Sphinx, which alters the appearance of the -#. generated documentation +#. generated documenation #: sphinx_rtd_theme/footer.html:54 msgid "theme" msgstr "主题" diff --git a/docs/_themes/sphinx_rtd_theme/static/css/badge_only.css b/docs/_themes/sphinx_rtd_theme/static/css/badge_only.css index b1a0fbfe..e380325b 100644 --- a/docs/_themes/sphinx_rtd_theme/static/css/badge_only.css +++ b/docs/_themes/sphinx_rtd_theme/static/css/badge_only.css @@ -1 +1 @@ -.fa:before{-webkit-font-smoothing:antialiased}.clearfix{*zoom:1}.clearfix:after,.clearfix:before{display:table;content:""}.clearfix:after{clear:both}@font-face{font-family:FontAwesome;font-style:normal;font-weight:400;src:url(fonts/fontawesome-webfont.eot?674f50d287a8c48dc19ba404d20fe713?#iefix) format("embedded-opentype"),url(fonts/fontawesome-webfont.woff2?af7ae505a9eed503f8b8e6982036873e) format("woff2"),url(fonts/fontawesome-webfont.woff?fee66e712a8a08eef5805a46892932ad) 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.fa-book,.rst-versions.rst-badge.shift-up .rst-current-version .icon-book{float:left}.rst-versions.rst-badge>.rst-current-version{width:auto;height:30px;line-height:30px;padding:0 6px;display:block;text-align:center}@media screen and (max-width:768px){.rst-versions{width:85%;display:none}.rst-versions.shift{display:block}} \ No newline at end of file diff --git a/docs/_themes/sphinx_rtd_theme/static/css/fonts/fontawesome-webfont.svg b/docs/_themes/sphinx_rtd_theme/static/css/fonts/fontawesome-webfont.svg index 52c07733..855c845e 100644 --- a/docs/_themes/sphinx_rtd_theme/static/css/fonts/fontawesome-webfont.svg +++ b/docs/_themes/sphinx_rtd_theme/static/css/fonts/fontawesome-webfont.svg @@ -8,7 +8,7 @@ Copyright Dave Gandy 2016. 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Ignoring message.", - msg->joint_names.size(), params_.command_joint_names.size()); + "Received %zu , but expected %zu command_joint_names in command. Ignoring message.", + msg->joint_names.size(), params_.command_joint_names.size()); } } @@ -249,10 +249,10 @@ controller_interface::return_type DummyClassName::update( (*current_ref)->displacements[i] /= 2; } command_interfaces_[i].set_value((*current_ref)->displacements[i]); - - }else + } + else { - command_interfaces_[i].set_value(0.0); + command_interfaces_[i].set_value(0.0); } } diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 2d84ad2a..2f50e153 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -71,8 +71,8 @@ TEST_F(DummyClassNameTest, when_controller_configured_expect_properly_exported_i ASSERT_EQ(reference_interfaces.size(), NR_REF_ITFS); for (size_t i = 0; i < NR_REF_ITFS; ++i) { - const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" - + state_joint_names_[i] + "/" + interface_name_; + const std::string ref_itf_name = std::string(controller_->get_node()->get_name()) + "/" + + state_joint_names_[i] + "/" + interface_name_; EXPECT_EQ(reference_interfaces[i].get_name(), ref_itf_name); EXPECT_EQ(reference_interfaces[i].get_prefix_name(), controller_->get_node()->get_name()); EXPECT_EQ( @@ -92,14 +92,16 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re auto reference = controller_->input_ref_.readFromNonRT(); auto old_timestamp = (*reference)->header.stamp; - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ( + (*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*reference)->displacements[0])); EXPECT_TRUE(std::isnan((*reference)->velocities[0])); EXPECT_TRUE(std::isnan((*reference)->duration)); publish_commands(controller_->get_node()->now(), {TEST_DISPLACEMENT}, {"joint1", "joint2"}); ASSERT_TRUE(controller_->wait_for_commands(executor)); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ( + (*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->velocities[0])); @@ -163,11 +165,11 @@ TEST_F( ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->command_interfaces_[NR_CMD_ITFS-1].get_value(), 101.101); + ASSERT_EQ(controller_->command_interfaces_[NR_CMD_ITFS - 1].get_value(), 101.101); ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS-1].get_value())); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS - 1].get_value())); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS-1].get_value())); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS - 1].get_value())); ASSERT_EQ( controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), @@ -183,7 +185,7 @@ TEST_F(DummyClassNameTest, when_update_is_called_expect_status_message) ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - controller_->reference_interfaces_[NR_STATE_ITFS-1] = 1.5; + controller_->reference_interfaces_[NR_STATE_ITFS - 1] = 1.5; ControllerStateMsg msg; subscribe_to_controller_status_execute_update_and_get_messages(msg); @@ -359,7 +361,6 @@ TEST_F( publish_commands(controller_->get_node()->now(), {TEST_DISPLACEMENT}); ASSERT_TRUE(controller_->wait_for_commands(executor)); - EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); ASSERT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index 5710fbba..d83a7981 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -222,7 +222,7 @@ class DummyClassNameFixture : public ::testing::Test // TODO(anyone): add/remove arguments as it suites your command message type void publish_commands( - const rclcpp::Time & stamp, const std::vector & displacements = {0.45}, + const rclcpp::Time & stamp, const std::vector & displacements = {0.45}, const std::vector & joint_names = {"joint1_test"}, const std::vector & velocities = {0.0}, const double duration = 1.25) { @@ -234,7 +234,7 @@ class DummyClassNameFixture : public ::testing::Test if (wait_count >= 5) { auto error_msg = - std::string("publishing to ") + topic_name + " but no node subscribes to it"; + std::string("publishing to ") + topic_name + " but no node subscribes to it"; throw std::runtime_error(error_msg); } std::this_thread::sleep_for(std::chrono::milliseconds(100)); diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 8138b4f0..861ce371 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -269,7 +269,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for controller_interface::return_type::OK); EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT / 2); - EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT/2); + EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT / 2); } // reference_interfaces and command_interfaces values depend on the reference_msg, From 24fb0e28ca23962883a729384772633c0baa985d Mon Sep 17 00:00:00 2001 From: "Dr. Denis" Date: Tue, 16 May 2023 07:05:03 +0200 Subject: [PATCH 30/38] Apply suggestions from code review --- .../controller/dummy_package_namespace/dummy_controller.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp index 6e557ca9..e9e5cffa 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_controller.hpp @@ -35,10 +35,10 @@ namespace dummy_package_namespace { // name constants for state interfaces -static constexpr size_t NR_STATE_ITFS = 0; +static constexpr size_t NR_STATE_ITFS = 1; // name constants for command interfaces -static constexpr size_t NR_CMD_ITFS = 0; +static constexpr size_t NR_CMD_ITFS = 1; // TODO(anyone: example setup for control mode (usually you will use some enums defined in messages) enum class control_mode_type : std::uint8_t From ce73a023981c925a402c927e4100b7d2180a7371 Mon Sep 17 00:00:00 2001 From: Guillaume Walck Date: Tue, 16 May 2023 23:28:03 +0200 Subject: [PATCH 31/38] Fixed wrong format when printing size --- .../ros2_control/controller/dummy_chainable_controller.cpp | 2 +- templates/ros2_control/controller/dummy_controller.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 43432f1e..b05676b7 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -92,7 +92,7 @@ controller_interface::CallbackReturn DummyClassName::on_configure( { RCLCPP_FATAL( get_node()->get_logger(), - "Size of 'command_joint_names' (%d) and 'state_joint_names' (%d) parameters has to be the " + "Size of 'command_joint_names' (%zu) and 'state_joint_names' (%zu) parameters has to be the " "same!", params_.command_joint_names.size(), state_joint_names_.size()); return CallbackReturn::FAILURE; diff --git a/templates/ros2_control/controller/dummy_controller.cpp b/templates/ros2_control/controller/dummy_controller.cpp index 53a97055..d4b41509 100644 --- a/templates/ros2_control/controller/dummy_controller.cpp +++ b/templates/ros2_control/controller/dummy_controller.cpp @@ -92,7 +92,7 @@ controller_interface::CallbackReturn DummyClassName::on_configure( { RCLCPP_FATAL( get_node()->get_logger(), - "Size of 'command_joint_names' (%d) and 'state_joint_names' (%d) parameters has to be the " + "Size of 'command_joint_names' (%zu) and 'state_joint_names' (%zu) parameters has to be the " "same!", params_.command_joint_names.size(), state_joint_names_.size()); return CallbackReturn::FAILURE; From 11601afae13c9883f073aecf10a2aa1291bcb470 Mon Sep 17 00:00:00 2001 From: Guillaume Walck Date: Tue, 16 May 2023 23:28:37 +0200 Subject: [PATCH 32/38] Fixed deprecated warnings --- .../controller/dummy_chainable_controller.cpp | 3 ++- templates/ros2_control/controller/dummy_controller.cpp | 3 ++- .../validate_dummy_controller_parameters.hpp | 10 +++++++--- 3 files changed, 11 insertions(+), 5 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index b05676b7..329dbfbd 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -130,7 +130,8 @@ controller_interface::CallbackReturn DummyClassName::on_configure( set_slow_control_mode_service_ = get_node()->create_service( "~/set_slow_control_mode", set_slow_mode_service_callback, - rmw_qos_profile_services_hist_keep_all); + rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_services_hist_keep_all), + rmw_qos_profile_services_hist_keep_all)); try { diff --git a/templates/ros2_control/controller/dummy_controller.cpp b/templates/ros2_control/controller/dummy_controller.cpp index d4b41509..cd74ec19 100644 --- a/templates/ros2_control/controller/dummy_controller.cpp +++ b/templates/ros2_control/controller/dummy_controller.cpp @@ -130,7 +130,8 @@ controller_interface::CallbackReturn DummyClassName::on_configure( set_slow_control_mode_service_ = get_node()->create_service( "~/set_slow_control_mode", set_slow_mode_service_callback, - rmw_qos_profile_services_hist_keep_all); + rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_services_hist_keep_all), + rmw_qos_profile_services_hist_keep_all)); try { diff --git a/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp b/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp index 0f283c0e..98053731 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp @@ -19,18 +19,22 @@ #include "parameter_traits/parameter_traits.hpp" +#include "rsl/algorithm.hpp" +#include "tl_expected/expected.hpp" + namespace parameter_traits { -Result forbidden_interface_name_prefix(rclcpp::Parameter const & parameter) +tl::expected forbidden_interface_name_prefix( + rclcpp::Parameter const & parameter) { auto const & interface_name = parameter.as_string(); if (interface_name.rfind("blup_", 0) == 0) { - return ERROR("'interface_name' parameter can not start with 'blup_'"); + return tl::make_unexpected("'interface_name' parameter can not start with 'blup_'"); } - return OK; + return {}; } } // namespace parameter_traits From b65756a72065f4fb415d0fee258ed6ed38c4775d Mon Sep 17 00:00:00 2001 From: Guillaume Walck Date: Tue, 16 May 2023 23:29:09 +0200 Subject: [PATCH 33/38] Simplified reference access --- .../test_dummy_chainable_controller.cpp | 31 ++++++++++--------- .../controller/test_dummy_controller.cpp | 15 ++++----- 2 files changed, 24 insertions(+), 22 deletions(-) diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 2f50e153..5a266844 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -92,20 +92,19 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re auto reference = controller_->input_ref_.readFromNonRT(); auto old_timestamp = (*reference)->header.stamp; - EXPECT_EQ( - (*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); + EXPECT_EQ((*(reference))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*reference)->displacements[0])); EXPECT_TRUE(std::isnan((*reference)->velocities[0])); EXPECT_TRUE(std::isnan((*reference)->duration)); publish_commands(controller_->get_node()->now(), {TEST_DISPLACEMENT}, {"joint1", "joint2"}); ASSERT_TRUE(controller_->wait_for_commands(executor)); - EXPECT_EQ( - (*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->velocities[0])); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->duration)); + reference = controller_->input_ref_.readFromNonRT(); + EXPECT_EQ((*(reference))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); + EXPECT_TRUE(std::isnan((*(reference))->displacements[0])); + EXPECT_TRUE(std::isnan((*(reference))->velocities[0])); + EXPECT_TRUE(std::isnan((*(reference))->duration)); } TEST_F(DummyClassNameTest, when_controller_is_activated_expect_reference_reset) @@ -449,11 +448,12 @@ TEST_F( publish_commands(controller_->get_node()->now()); ASSERT_TRUE(controller_->wait_for_commands(executor)); - ASSERT_EQ(old_timestamp.sec, (*(controller_->input_ref_.readFromNonRT()))->header.stamp.sec); - EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements[0], 0.45); + reference = controller_->input_ref_.readFromNonRT(); + ASSERT_EQ(old_timestamp.sec, (*(reference))->header.stamp.sec); + EXPECT_FALSE(std::isnan((*(reference))->displacements[0])); + EXPECT_EQ((*(reference))->displacements[0], 0.45); - EXPECT_NE((*(controller_->input_ref_.readFromNonRT()))->header.stamp.sec, 0.0); + EXPECT_NE((*(reference))->header.stamp.sec, 0.0); } // when the reference_msg has valid timestamp then the timeout check in reference_callback() @@ -477,8 +477,9 @@ TEST_F(DummyClassNameTest, when_message_has_valid_timestamp_expect_reference_set publish_commands(controller_->get_node()->now()); ASSERT_TRUE(controller_->wait_for_commands(executor)); - EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->displacements[0], 0.45); + reference = controller_->input_ref_.readFromNonRT(); + EXPECT_FALSE(std::isnan((*(reference))->displacements[0])); + EXPECT_EQ((*(reference))->displacements[0], 0.45); } int main(int argc, char ** argv) diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 861ce371..36cfaef4 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -79,19 +79,20 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re auto reference = controller_->input_ref_.readFromNonRT(); auto old_timestamp = (*reference)->header.stamp; EXPECT_EQ( - (*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); + (*(reference))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*reference)->displacements[0])); EXPECT_TRUE(std::isnan((*reference)->velocities[0])); EXPECT_TRUE(std::isnan((*reference)->duration)); publish_commands(controller_->get_node()->now(), {"joint1", "joint2"}); ASSERT_TRUE(controller_->wait_for_commands(executor)); + reference = controller_->input_ref_.readFromNonRT(); EXPECT_EQ( - (*(controller_->input_ref_.readFromNonRT()))->joint_names.size(), state_joint_names_.size()); - EXPECT_EQ((*(controller_->input_ref_.readFromNonRT()))->joint_names[0], state_joint_names_[0]); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->displacements[0])); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->velocities[0])); - EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromNonRT()))->duration)); + (*(reference))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); + EXPECT_TRUE(std::isnan((*(reference))->displacements[0])); + EXPECT_TRUE(std::isnan((*(reference))->velocities[0])); + EXPECT_TRUE(std::isnan((*(reference))->duration)); } TEST_F(DummyClassNameTest, when_controller_is_activated_expect_reference_reset) From 5808d199238c67b47770e9685b3d1778288ef3c6 Mon Sep 17 00:00:00 2001 From: Guillaume Walck Date: Tue, 16 May 2023 21:19:57 +0200 Subject: [PATCH 34/38] Fixed library path for dummy_controller --- .../controller/dummy_chainable_controller_pluginlib.xml | 2 +- .../ros2_control/controller/dummy_controller_pluginlib.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller_pluginlib.xml b/templates/ros2_control/controller/dummy_chainable_controller_pluginlib.xml index 6a355f80..ff4d6af7 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller_pluginlib.xml +++ b/templates/ros2_control/controller/dummy_chainable_controller_pluginlib.xml @@ -1,4 +1,4 @@ - + diff --git a/templates/ros2_control/controller/dummy_controller_pluginlib.xml b/templates/ros2_control/controller/dummy_controller_pluginlib.xml index b11cb929..856e9b53 100644 --- a/templates/ros2_control/controller/dummy_controller_pluginlib.xml +++ b/templates/ros2_control/controller/dummy_controller_pluginlib.xml @@ -1,4 +1,4 @@ - + From 2981921991d2c18cb88e7fa14fd8f7178966d007 Mon Sep 17 00:00:00 2001 From: Guillaume Walck Date: Wed, 17 May 2023 11:53:51 +0200 Subject: [PATCH 35/38] added missing old_time_stamp test --- .../ros2_control/controller/test_dummy_chainable_controller.cpp | 1 + templates/ros2_control/controller/test_dummy_controller.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 5a266844..6800cccd 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -102,6 +102,7 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re reference = controller_->input_ref_.readFromNonRT(); EXPECT_EQ((*(reference))->joint_names.size(), state_joint_names_.size()); EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); + ASSERT_EQ(old_timestamp, (*(reference))->header.stamp); EXPECT_TRUE(std::isnan((*(reference))->displacements[0])); EXPECT_TRUE(std::isnan((*(reference))->velocities[0])); EXPECT_TRUE(std::isnan((*(reference))->duration)); diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 36cfaef4..67a62b8b 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -90,6 +90,7 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re EXPECT_EQ( (*(reference))->joint_names.size(), state_joint_names_.size()); EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); + ASSERT_EQ(old_timestamp, (*(reference))->header.stamp); EXPECT_TRUE(std::isnan((*(reference))->displacements[0])); EXPECT_TRUE(std::isnan((*(reference))->velocities[0])); EXPECT_TRUE(std::isnan((*(reference))->duration)); From e4316ea9c5c89c42720e0ed5e56e2611fd090f64 Mon Sep 17 00:00:00 2001 From: Guillaume Walck Date: Wed, 17 May 2023 11:54:49 +0200 Subject: [PATCH 36/38] Fixed new API of update_reference_from_subscribers https://github.com/ros-controls/ros2_control/pull/846 --- .../ros2_control/controller/dummy_chainable_controller.cpp | 3 ++- .../dummy_package_namespace/dummy_chainable_controller.hpp | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 329dbfbd..fa3f5d82 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -254,7 +254,8 @@ controller_interface::CallbackReturn DummyClassName::on_deactivate( return controller_interface::CallbackReturn::SUCCESS; } -controller_interface::return_type DummyClassName::update_reference_from_subscribers() +controller_interface::return_type DummyClassName::update_reference_from_subscribers( + const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) { auto current_ref = input_ref_.readFromRT(); diff --git a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp index bd3dc7d2..798b97dd 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp @@ -78,7 +78,8 @@ class DummyClassName : public controller_interface::ChainableControllerInterface const rclcpp_lifecycle::State & previous_state) override; TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC - controller_interface::return_type update_reference_from_subscribers() override; + controller_interface::return_type update_reference_from_subscribers( + const rclcpp::Time & time, const rclcpp::Duration & period) override; TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC controller_interface::return_type update_and_write_commands( From 362ed826747604d32ffaab9df809bd43086193da Mon Sep 17 00:00:00 2001 From: Guillaume Walck Date: Wed, 17 May 2023 22:46:44 +0200 Subject: [PATCH 37/38] Fix NR_CMD_ITFS and NR_STATE_ITFS --- .../controller/dummy_chainable_controller.cpp | 6 +++--- templates/ros2_control/controller/dummy_controller.cpp | 8 ++++---- .../ros2_control/controller/test_dummy_controller.cpp | 10 +++++----- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index fa3f5d82..2c60b973 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -245,7 +245,7 @@ controller_interface::CallbackReturn DummyClassName::on_activate( controller_interface::CallbackReturn DummyClassName::on_deactivate( const rclcpp_lifecycle::State & /*previous_state*/) { - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, // instead of a loop for (size_t i = 0; i < NR_CMD_ITFS; ++i) { @@ -259,7 +259,7 @@ controller_interface::return_type DummyClassName::update_reference_from_subscrib { auto current_ref = input_ref_.readFromRT(); - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, // instead of a loop for (size_t i = 0; i < NR_REF_ITFS; ++i) { @@ -274,7 +274,7 @@ controller_interface::return_type DummyClassName::update_reference_from_subscrib controller_interface::return_type DummyClassName::update_and_write_commands( const rclcpp::Time & time, const rclcpp::Duration & /*period*/) { - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, // instead of a loop for (size_t i = 0; i < NR_CMD_ITFS; ++i) { diff --git a/templates/ros2_control/controller/dummy_controller.cpp b/templates/ros2_control/controller/dummy_controller.cpp index cd74ec19..01b461ee 100644 --- a/templates/ros2_control/controller/dummy_controller.cpp +++ b/templates/ros2_control/controller/dummy_controller.cpp @@ -225,9 +225,9 @@ controller_interface::CallbackReturn DummyClassName::on_activate( controller_interface::CallbackReturn DummyClassName::on_deactivate( const rclcpp_lifecycle::State & /*previous_state*/) { - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, // instead of a loop - for (size_t i = 0; i <= NR_CMD_ITFS; ++i) + for (size_t i = 0; i < NR_CMD_ITFS; ++i) { command_interfaces_[i].set_value(std::numeric_limits::quiet_NaN()); } @@ -239,7 +239,7 @@ controller_interface::return_type DummyClassName::update( { auto current_ref = input_ref_.readFromRT(); - // TODO(anyone): depending on number of interfaces, use definitions, e.g., `CMD_MY_ITFS`, + // TODO(anyone): depending on number of interfaces, use definitions, e.g., `NR_CMD_ITFS`, // instead of a loop for (size_t i = 0; i < command_interfaces_.size(); ++i) { @@ -260,7 +260,7 @@ controller_interface::return_type DummyClassName::update( if (state_publisher_ && state_publisher_->trylock()) { state_publisher_->msg_.header.stamp = time; - state_publisher_->msg_.set_point = command_interfaces_[NR_CMD_ITFS].get_value(); + state_publisher_->msg_.set_point = command_interfaces_[NR_CMD_ITFS - 1].get_value(); state_publisher_->unlockAndPublish(); } diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index 67a62b8b..b4172614 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -147,11 +147,11 @@ TEST_F( ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_EQ(controller_->command_interfaces_[NR_CMD_ITFS].get_value(), 101.101); + ASSERT_EQ(controller_->command_interfaces_[NR_CMD_ITFS - 1].get_value(), 101.101); ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS].get_value())); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS - 1].get_value())); ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS); - ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS].get_value())); + ASSERT_TRUE(std::isnan(controller_->command_interfaces_[NR_CMD_ITFS - 1].get_value())); ASSERT_EQ( controller_->update(controller_->get_node()->now(), rclcpp::Duration::from_seconds(0.01)), @@ -240,7 +240,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_fast_expect_update_logic_for controller_interface::return_type::OK); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); - EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS - 1], TEST_DISPLACEMENT); EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT); EXPECT_EQ(*(controller_->control_mode_.readFromRT()), control_mode_type::FAST); } @@ -270,7 +270,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - EXPECT_EQ(joint_command_values_[NR_STATE_ITFS], TEST_DISPLACEMENT / 2); + EXPECT_EQ(joint_command_values_[NR_STATE_ITFS - 1], TEST_DISPLACEMENT / 2); EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], TEST_DISPLACEMENT / 2); } From 3d3c03bb83d95a0f3f75d0e6d90d6ae4983fecc6 Mon Sep 17 00:00:00 2001 From: Guillaume Walck Date: Thu, 1 Jun 2023 18:13:58 +0200 Subject: [PATCH 38/38] lint --- .../controller/dummy_chainable_controller.cpp | 5 +++-- .../ros2_control/controller/dummy_controller.cpp | 5 +++-- .../validate_dummy_controller_parameters.hpp | 3 +-- .../controller/test_dummy_chainable_controller.cpp | 8 ++++---- .../controller/test_dummy_chainable_controller.hpp | 4 ++-- .../controller/test_dummy_controller.cpp | 12 +++++------- 6 files changed, 18 insertions(+), 19 deletions(-) diff --git a/templates/ros2_control/controller/dummy_chainable_controller.cpp b/templates/ros2_control/controller/dummy_chainable_controller.cpp index 2c60b973..6bf2819e 100644 --- a/templates/ros2_control/controller/dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/dummy_chainable_controller.cpp @@ -130,8 +130,9 @@ controller_interface::CallbackReturn DummyClassName::on_configure( set_slow_control_mode_service_ = get_node()->create_service( "~/set_slow_control_mode", set_slow_mode_service_callback, - rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_services_hist_keep_all), - rmw_qos_profile_services_hist_keep_all)); + rclcpp::QoS( + rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_services_hist_keep_all), + rmw_qos_profile_services_hist_keep_all)); try { diff --git a/templates/ros2_control/controller/dummy_controller.cpp b/templates/ros2_control/controller/dummy_controller.cpp index 01b461ee..dcf1732f 100644 --- a/templates/ros2_control/controller/dummy_controller.cpp +++ b/templates/ros2_control/controller/dummy_controller.cpp @@ -130,8 +130,9 @@ controller_interface::CallbackReturn DummyClassName::on_configure( set_slow_control_mode_service_ = get_node()->create_service( "~/set_slow_control_mode", set_slow_mode_service_callback, - rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_services_hist_keep_all), - rmw_qos_profile_services_hist_keep_all)); + rclcpp::QoS( + rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_services_hist_keep_all), + rmw_qos_profile_services_hist_keep_all)); try { diff --git a/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp b/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp index 98053731..feaa3c20 100644 --- a/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp +++ b/templates/ros2_control/controller/dummy_package_namespace/validate_dummy_controller_parameters.hpp @@ -24,8 +24,7 @@ namespace parameter_traits { -tl::expected forbidden_interface_name_prefix( - rclcpp::Parameter const & parameter) +tl::expected forbidden_interface_name_prefix(rclcpp::Parameter const & parameter) { auto const & interface_name = parameter.as_string(); diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp index 6800cccd..de176d10 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.cpp @@ -101,8 +101,8 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re ASSERT_TRUE(controller_->wait_for_commands(executor)); reference = controller_->input_ref_.readFromNonRT(); EXPECT_EQ((*(reference))->joint_names.size(), state_joint_names_.size()); - EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); - ASSERT_EQ(old_timestamp, (*(reference))->header.stamp); + EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); + ASSERT_EQ(old_timestamp, (*(reference))->header.stamp); EXPECT_TRUE(std::isnan((*(reference))->displacements[0])); EXPECT_TRUE(std::isnan((*(reference))->velocities[0])); EXPECT_TRUE(std::isnan((*(reference))->duration)); @@ -334,7 +334,7 @@ TEST_F(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for TEST_F( DummyClassNameTest, - when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect) + when_ctrl_mode_set_chainable_fast_expect_cmds_from_ref_ifs_direct_with_fast_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; @@ -383,7 +383,7 @@ TEST_F( TEST_F( DummyClassNameTest, - when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect) + when_ctrl_mode_set_chainable_slow_expect_cmds_from_ref_ifs_direct_with_slow_mode_logic_effect) { SetUpController(); rclcpp::executors::MultiThreadedExecutor executor; diff --git a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp index d83a7981..0d1b259b 100644 --- a/templates/ros2_control/controller/test_dummy_chainable_controller.hpp +++ b/templates/ros2_control/controller/test_dummy_chainable_controller.hpp @@ -66,10 +66,10 @@ class TestableDummyClassName : public dummy_package_namespace::DummyClassName FRIEND_TEST(DummyClassNameTest, when_controller_mode_set_slow_expect_update_logic_for_slow_mode); FRIEND_TEST( DummyClassNameTest, - when_controller_mode_set_chainable_and_fast_expect_receiving_commands_from_reference_interfaces_directly_with_fast_mode_logic_effect); + when_ctrl_mode_set_chainable_fast_expect_cmds_from_ref_ifs_direct_with_fast_mode_logic_effect); FRIEND_TEST( DummyClassNameTest, - when_controller_mode_set_chainable_and_slow_expect_receiving_commands_from_reference_interfaces_directly_with_slow_mode_logic_effect); + when_ctrl_mode_set_chainable_slow_expect_cmds_from_ref_ifs_direct_with_slow_mode_logic_effect); FRIEND_TEST( DummyClassNameTest, when_reference_msg_has_timestamp_zero_expect_reference_set_and_timestamp_set_to_current_time); diff --git a/templates/ros2_control/controller/test_dummy_controller.cpp b/templates/ros2_control/controller/test_dummy_controller.cpp index b4172614..6b345e42 100644 --- a/templates/ros2_control/controller/test_dummy_controller.cpp +++ b/templates/ros2_control/controller/test_dummy_controller.cpp @@ -78,8 +78,7 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re auto reference = controller_->input_ref_.readFromNonRT(); auto old_timestamp = (*reference)->header.stamp; - EXPECT_EQ( - (*(reference))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(reference))->joint_names.size(), state_joint_names_.size()); EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); EXPECT_TRUE(std::isnan((*reference)->displacements[0])); EXPECT_TRUE(std::isnan((*reference)->velocities[0])); @@ -87,10 +86,9 @@ TEST_F(DummyClassNameTest, when_invalid_reference_msg_is_set_expect_reference_re publish_commands(controller_->get_node()->now(), {"joint1", "joint2"}); ASSERT_TRUE(controller_->wait_for_commands(executor)); reference = controller_->input_ref_.readFromNonRT(); - EXPECT_EQ( - (*(reference))->joint_names.size(), state_joint_names_.size()); + EXPECT_EQ((*(reference))->joint_names.size(), state_joint_names_.size()); EXPECT_EQ((*(reference))->joint_names[0], state_joint_names_[0]); - ASSERT_EQ(old_timestamp, (*(reference))->header.stamp); + ASSERT_EQ(old_timestamp, (*(reference))->header.stamp); EXPECT_TRUE(std::isnan((*(reference))->displacements[0])); EXPECT_TRUE(std::isnan((*(reference))->velocities[0])); EXPECT_TRUE(std::isnan((*(reference))->duration)); @@ -173,7 +171,7 @@ TEST_F(DummyClassNameTest, when_update_is_called_expect_status_message) // reference_callback() is implicitly called when publish_commands() is called // reference_msg is published with provided time stamp when publish_commands( time_stamp) // is called - //setting ref msg here + // setting ref msg here publish_commands(controller_->get_node()->now()); ASSERT_TRUE(controller_->wait_for_commands(executor)); @@ -181,7 +179,7 @@ TEST_F(DummyClassNameTest, when_update_is_called_expect_status_message) controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)), controller_interface::return_type::OK); - //checking if previously set reference msg persists + // checking if previously set reference msg persists EXPECT_EQ((*(controller_->input_ref_.readFromRT()))->displacements[0], 0.45); ControllerStateMsg msg;