Merge branch 'ros2-devel' into ros2-lynx-devel

husarion · Sep 17, 2024 · dbda457 · dbda457
2 parents d47271b + fb78242
commit dbda457
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diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -1,7 +1,14 @@
 ### Description
 
-[Summary of the changes]
+-
 
-### Modifications
+### Requirements
 
--
+- [ ] Code style guidelines followed
+- [ ] Documentation updated
+
+### Tests 🧪
+
+- [ ] Robot
+- [ ] Container
+- [ ] Simulation
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
@@ -0,0 +1,11 @@
+---
+name: Pre-Commit
+
+on:
+  push:
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
diff --git a/.github/workflows/release-candidate.yaml b/.github/workflows/release-candidate.yaml
@@ -79,6 +79,7 @@ jobs:
           wait_interval: 10
           client_payload: |
             {
+              "panther_codebase_version": "${{ env.RC_BRANCH_NAME }}",
               "build_type": "development",
               "target_distro": "humble"
             }

diff --git a/.github/workflows/release-project.yaml b/.github/workflows/release-project.yaml
@@ -93,6 +93,7 @@ jobs:
           wait_interval: 10
           client_payload: |
             {
+              "panther_codebase_version": "${{ github.event.inputs.version }}",
               "build_type": "development",
               "target_distro": "humble"
             }

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -34,7 +34,7 @@ repos:
       - id: cmake-format
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.6
+    rev: v18.1.8
     hooks:
       - id: clang-format
 
@@ -63,13 +63,13 @@ repos:
         args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
 
   - repo: https://github.com/psf/black
-    rev: 24.4.2
+    rev: 24.8.0
     hooks:
       - id: black
         args: ["--line-length=99"]
 
   - repo: https://github.com/PyCQA/flake8
-    rev: 7.1.0
+    rev: 7.1.1
     hooks:
       - id: flake8
         args:
@@ -94,7 +94,7 @@ repos:
         exclude: ^.*\/CHANGELOG\.rst/.*$
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.8.0
+    rev: v0.10.0
     hooks:
       - id: prettier-package-xml
       - id: sort-package-xml
diff --git a/ROS_API.md b/ROS_API.md
@@ -49,6 +49,7 @@ Below is information about the physical robot API. For the simulation, topics an
 | 🤖   | `hardware_controller`     | Plugin responsible for communicating with engine controllers via the CAN bus and providing E-Stop functionalities. <br/> *[panther_hardware_interfaces/PantherSystem](./panther_hardware_interfaces/src/panther_system/)*                                                                                                                                                                                                                                                                                                             |
 | 🤖   | `gps`                     | Node responsible for parsing NMEA strings and publishing standard ROS NavSat message types. <br/> *[nmea_navsat_driver/nmea_navsat_driver](https://github.com/ros-drivers/nmea_navsat_driver/tree/ros2/src/libnmea_navsat_driver)*                                                                                                                                                                                                                                                                                                                                 |
 | 🖥️   | `gz_ros2_control`         | Responsible for integrating the ros2_control controller architecture with the Gazebo simulator. <br/> [gz_ros2_control/gz_ros2_control](https://github.com/ros-controls/gz_ros2_control/tree/master/gz_ros2_control/src)                                                                                                                                                                                                                                                                                                              |
+| 🖥️   | `gz_estop_gui`            | The node is part of the Gazebo GUI plugin, enabling easy E-stop state modifications directly within the simulation. <br/> [panther_gazebo/EStop](./panther_gazebo/src/gui/e_stop.cpp)                                                                                                                                                                                                                                                                                |
 | 🤖🖥️  | `imu_broadcaster`         | Publishes readings of IMU sensors. <br/> *[imu_sensor_broadcaster/imu_sensor_broadcaster](https://github.com/ros-controls/ros2_controllers/tree/master/imu_sensor_broadcaster)*                                                                                                                                                                                                                                                                                                                                                       |
 | 🤖🖥️  | `joint_state_broadcaster` | Reads all state interfaces and reports them on specific topics. <br/> *[joint_state_broadcaster/joint_state_broadcaster](https://github.com/ros-controls/ros2_controllers/tree/master/joint_state_broadcaster)*                                                                                                                                                                                                                                                                                                                       |
 | 🤖🖥️  | `lights_container`        | Node for managing ROS components. This node manages: `lights_controller`, `lights_driver`. <br/>[*rclcpp_components/component_container*](https://github.com/ros2/rclcpp/tree/rolling/rclcpp_components)                                                                                                                                                                                                                                                                                                                              |
@@ -74,7 +75,7 @@ Below is information about the physical robot API. For the simulation, topics an
 | 🤖🖥️⚙️ | `gps/fix`                          | Raw GPS data.<br/> [*sensor_msgs/NavSatFix*](https://docs.ros2.org/latest/api/sensor_msgs/msg/NavSatFix.html)                                                                                                                                                                                                                                                             |
 | 🤖   | `gps/time_reference`                | The timestamp from the GPS device.<br/> [*sensor_msgs/TimeReference*](https://docs.ros2.org/latest/api/sensor_msgs/msg/TimeReference.html) |
 | 🤖   | `gps/vel`                           | Velocity output from the GPS device.<br/> [*geometry_msgs/TwistStamped*](https://docs.ros2.org/latest/api/geometry_msgs/msg/TwistStamped.html) |
-| 🤖   | `hardware/e_stop`                  | Current E-stop state.<br/> [*std_msgs/Bool*](https://docs.ros2.org/latest/api/std_msgs/msg/Bool.html).                                                                                                                                                                                                                                                               |
+| 🤖🖥️  | `hardware/e_stop`                  | Current E-stop state.<br/> [*std_msgs/Bool*](https://docs.ros2.org/latest/api/std_msgs/msg/Bool.html).                                                                                                                                                                                                                                                               |
 | 🤖   | `hardware/io_state`                | Current IO state.<br/> [*panther_msgs/IOState*](https://github.com/husarion/panther_msgs)                                                                                                                                                                                                                                                                                 |
 | 🤖🖥️  | `hardware/robot_driver_state` | Current motor controllers' state and error flags. Subscribed if using Roboteq motor controllers data.<br/> [*panther_msgs/RobotDriverState*](https://github.com/husarion/panther_msgs)                                                                                                                                                                                         |
 | 🤖🖥️  | `imu/data`                         | Filtered IMU data.<br/> [*sensor_msgs/Imu*](https://docs.ros2.org/latest/api/sensor_msgs/msg/Imu.html)                                                                                                                                                                                                                                                                    |
@@ -115,8 +116,8 @@ Below is information about the physical robot API. For the simulation, topics an
 | 🤖   | `hardware/aux_power_enable`                       | Enables or disables AUX power.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html)                                                                                 |
 | 🤖   | `hardware/charger_enable`                         | Enables or disables external charger.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html)                                                                          |
 | 🤖   | `hardware/digital_power_enable`                   | Enables or disables digital power.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html)                                                                             |
-| 🤖   | `hardware/e_stop_reset`                           | Resets E-stop.<br/> [std_srvs/srv/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html)                                                                                                 |
-| 🤖   | `hardware/e_stop_trigger`                         | Triggers E-stop.<br/> [std_srvs/srv/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html)                                                                                               |
+| 🤖🖥️  | `hardware/e_stop_reset`                           | Resets E-stop.<br/> [std_srvs/srv/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html)                                                                                                 |
+| 🤖🖥️  | `hardware/e_stop_trigger`                         | Triggers E-stop.<br/> [std_srvs/srv/Trigger](https://docs.ros2.org/latest/api/std_srvs/srv/Trigger.html)                                                                                               |
 | 🤖   | `hardware/fan_enable`                             | Enables or disables fan.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html)                                                                                       |
 | 🤖   | `hardware/motor_power_enable`                     | Enables or disables motor power.<br/> [std_srvs/srv/SetBool](https://docs.ros2.org/latest/api/std_srvs/srv/SetBool.html)                                                                               |
 | 🤖🖥️  | `lights/set_animation`                            | Sets LED animation.<br/> [panther_msgs/srv/SetLEDAnimation](https://github.com/husarion/panther_msgs)                                                                                                  |

diff --git a/panther/CHANGELOG.rst b/panther/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package panther
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.1 (2024-09-05)
+------------------
+* Merge branch 'ros2-devel' into ros2-ns-refactor
+* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
+* Merge pull request `#383 <https://github.com/husarion/panther_ros/issues/383>`_ from husarion/ros-sim-estop
+* Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
+* Ros2 estop sim gui (`#384 <https://github.com/husarion/panther_ros/issues/384>`_)
+* Merge branch 'ros2-devel' into ros2-ns-refactor
+* Contributors: Dawid Kmak, KmakD, pawelirh, rafal-gorecki
+
 2.1.0 (2024-08-02)
 ------------------
 * Merge pull request `#375 <https://github.com/husarion/panther_ros/issues/375>`_ from husarion/hotfix-handle-can-timeout

diff --git a/panther/package.xml b/panther/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>panther</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>Meta package that contains all packages of Panther</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_battery/CHANGELOG.rst b/panther_battery/CHANGELOG.rst
@@ -2,6 +2,26 @@
 Changelog for package panther_battery
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.1 (2024-09-05)
+------------------
+* LEDStrip plugin to Gazebo (`#391 <https://github.com/husarion/panther_ros/issues/391>`_)
+* Merge branch 'ros2-devel' into ros2-ns-refactor
+* Merge pull request `#349 <https://github.com/husarion/panther_ros/issues/349>`_ from husarion/ros2-testing-poc
+* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
+* Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
+* Merge pull request `#386 <https://github.com/husarion/panther_ros/issues/386>`_ from husarion/ros2-unify-filenames
+* Merge remote-tracking branch 'origin/ros2-devel' into ros2-unify-filenames
+* Ros2 battery estimation (`#376 <https://github.com/husarion/panther_ros/issues/376>`_)
+* Rename battery exec
+* Rename battery driver files
+* Reorganize files in panther_battery
+* Ros2 estop sim gui (`#384 <https://github.com/husarion/panther_ros/issues/384>`_)
+* Merge branch 'ros2-devel' into ros2-ns-refactor
+* unify CMakeLists.txt files (`#381 <https://github.com/husarion/panther_ros/issues/381>`_)
+* unify CMakeLists.txt files
+* New format of documentation  (`#369 <https://github.com/husarion/panther_ros/issues/369>`_)
+* Contributors: BOOTCFG, Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki
+
 2.1.0 (2024-08-02)
 ------------------
 * Merge pull request `#375 <https://github.com/husarion/panther_ros/issues/375>`_ from husarion/hotfix-handle-can-timeout

diff --git a/panther_battery/README.md b/panther_battery/README.md
@@ -22,7 +22,7 @@ Publishes battery state read from ADC unit for Panther version 1.2 and above, or
 - `battery/charging_status` [*panther_msgs/ChargingStatus*]: Battery charging status.
 - `diagnostics` [*diagnostic_msgs/DiagnosticArray*]: Battery diagnostic messages.
 
-#### Subscribes
+#### Subscribers
 
 - `hardware/io_state` [*panther_msgs/IOState*]: Current state of IO.
 - `hardware/robot_driver_state` [*panther_msgs/RobotDriverState*]: Current motor controllers' state and error flags. Subscribed if using Roboteq motor controllers data.

diff --git a/panther_battery/package.xml b/panther_battery/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>panther_battery</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>Nodes monitoring the battery state of Husarion Panhter robot</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_bringup/CHANGELOG.rst b/panther_bringup/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package panther_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.1 (2024-09-05)
+------------------
+* Merge branch 'ros2-devel' into ros2-ns-refactor
+* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
+* Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
+* Merge pull request `#386 <https://github.com/husarion/panther_ros/issues/386>`_ from husarion/ros2-unify-filenames
+* Ros2 estop sim gui (`#384 <https://github.com/husarion/panther_ros/issues/384>`_)
+* Rename config and launch file in manager package
+* Merge branch 'ros2-devel' into ros2-ns-refactor
+* Update after changes in panther_diagnostics
+* New format of documentation  (`#369 <https://github.com/husarion/panther_ros/issues/369>`_)
+* Contributors: KmakD, Paweł Irzyk, pawelirh, rafal-gorecki
+
 2.1.0 (2024-08-02)
 ------------------
 * Merge pull request `#362 <https://github.com/husarion/panther_ros/issues/362>`_ from husarion/ros2-api-reorganization

diff --git a/panther_bringup/package.xml b/panther_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>panther_bringup</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>Default launch files and configuration used to start Husarion Panther robot</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_controller/CHANGELOG.rst b/panther_controller/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package panther_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.1 (2024-09-05)
+------------------
+* Merge pull request `#403 <https://github.com/husarion/panther_ros/issues/403>`_ from husarion/ros2-control-ns-fix
+* Remove deprecated --namespace arg
+* Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
+* Ros2 estop sim gui (`#384 <https://github.com/husarion/panther_ros/issues/384>`_)
+* Merge branch 'ros2-devel' into ros2-ns-refactor
+* unify CMakeLists.txt files (`#381 <https://github.com/husarion/panther_ros/issues/381>`_)
+* unify CMakeLists.txt files
+* New format of documentation  (`#369 <https://github.com/husarion/panther_ros/issues/369>`_)
+* Contributors: Dawid, Dawid Kmak, pawelirh, rafal-gorecki
+
 2.1.0 (2024-08-02)
 ------------------
 * Fix imu tf frame (`#373 <https://github.com/husarion/panther_ros/issues/373>`_)

diff --git a/panther_controller/launch/controller.launch.py b/panther_controller/launch/controller.launch.py
@@ -219,8 +219,6 @@ def generate_launch_description():
             "controller_manager",
             "--controller-manager-timeout",
             "10",
-            "--namespace",
-            namespace,
         ],
         namespace=namespace,
         emulate_tty=True,
@@ -235,8 +233,6 @@ def generate_launch_description():
             "controller_manager",
             "--controller-manager-timeout",
             "10",
-            "--namespace",
-            namespace,
         ],
         namespace=namespace,
         emulate_tty=True,
@@ -259,8 +255,6 @@ def generate_launch_description():
             "controller_manager",
             "--controller-manager-timeout",
             "10",
-            "--namespace",
-            namespace,
         ],
         namespace=namespace,
         emulate_tty=True,

diff --git a/panther_controller/package.xml b/panther_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>panther_controller</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>ros2 controllers configuration for Panther</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_description/CHANGELOG.rst b/panther_description/CHANGELOG.rst
@@ -2,6 +2,26 @@
 Changelog for package panther_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.1 (2024-09-05)
+------------------
+* LEDStrip plugin to Gazebo (`#391 <https://github.com/husarion/panther_ros/issues/391>`_)
+* Merge pull request `#374 <https://github.com/husarion/panther_ros/issues/374>`_ from husarion/ros2-ns-refactor
+* Merge branch 'ros2-devel' into ros2-ns-refactor
+* Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-add-nmea-gps
+* Merge pull request `#383 <https://github.com/husarion/panther_ros/issues/383>`_ from husarion/ros-sim-estop
+* Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
+* Rename PantherSystem -> GzPantherSystem
+* Typos in Readme + estop publish on service call
+* Ros2 estop sim gui (`#384 <https://github.com/husarion/panther_ros/issues/384>`_)
+* Merge branch 'ros2-devel' into ros2-ns-refactor
+* unify CMakeLists.txt files (`#381 <https://github.com/husarion/panther_ros/issues/381>`_)
+* Add remapping
+* unify CMakeLists.txt files
+* Add EStop to Gazebo
+* New format of documentation  (`#369 <https://github.com/husarion/panther_ros/issues/369>`_)
+* Namespace refactor
+* Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, pawelirh, rafal-gorecki
+
 2.1.0 (2024-08-02)
 ------------------
 * Fixed gazebo lights tfs (`#377 <https://github.com/husarion/panther_ros/issues/377>`_)