Merge pull request #198 from firesurfer/jazzy

Enable support for Jazzy / Drop support for Foxy and Galactic

.github/workflows/industrial_ci_humble_action.yml

@@ -20,6 +20,6 @@ jobs:
           - {ROS_DISTRO: humble, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

.github/workflows/industrial_ci_iron_action.yml

@@ -20,6 +20,6 @@ jobs:
           - {ROS_DISTRO: iron, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

.github/workflows/industrial_ci_foxy_action.yml → .github/workflows/industrial_ci_jazzy_action.yml

@@ -1,6 +1,11 @@
-name: Foxy
+name: Jazzy
 
-on: [push, pull_request]
+on:
+  push:
+  pull_request:
+  schedule:
+    # Run every Friday at 6:30 am to detect breaking APIs
+    - cron: '30 6 * * 5'
 
 
 jobs:
@@ -11,9 +16,10 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - {ROS_DISTRO: foxy, ROS_REPO: main}
+          - {ROS_DISTRO: jazzy, ROS_REPO: testing}
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

README.md

@@ -1,7 +1,6 @@
-![build badge](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/actions/workflows/industrial_ci_foxy_action.yml/badge.svg)
-![build badge](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/actions/workflows/industrial_ci_galactic_action.yml/badge.svg)
 ![build badge](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/actions/workflows/industrial_ci_humble_action.yml/badge.svg)
 ![build badge](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/actions/workflows/industrial_ci_iron_action.yml/badge.svg)
+![build badge](https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers/actions/workflows/industrial_ci_jazzy_action.yml/badge.svg)
 [![License](https://img.shields.io/badge/License-BSD_3--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
 # Cartesian Controllers

cartesian_compliance_controller/include/cartesian_compliance_controller/cartesian_compliance_controller.h

@@ -75,12 +75,7 @@ class CartesianComplianceController : public cartesian_motion_controller::Cartes
 public:
   CartesianComplianceController();
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || \
-  defined CARTESIAN_CONTROLLERS_IRON
   virtual LifecycleNodeInterface::CallbackReturn on_init() override;
-#elif defined CARTESIAN_CONTROLLERS_FOXY
-  virtual controller_interface::return_type init(const std::string & controller_name) override;
-#endif
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override;
@@ -91,13 +86,8 @@ class CartesianComplianceController : public cartesian_motion_controller::Cartes
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
     const rclcpp_lifecycle::State & previous_state) override;
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || \
-  defined CARTESIAN_CONTROLLERS_IRON
   controller_interface::return_type update(const rclcpp::Time & time,
                                            const rclcpp::Duration & period) override;
-#elif defined CARTESIAN_CONTROLLERS_FOXY
-  controller_interface::return_type update() override;
-#endif
 
   using Base = cartesian_controller_base::CartesianControllerBase;
   using MotionBase = cartesian_motion_controller::CartesianMotionController;

cartesian_compliance_controller/src/cartesian_compliance_controller.cpp

@@ -53,8 +53,6 @@ CartesianComplianceController::CartesianComplianceController()
 {
 }
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || \
-  defined CARTESIAN_CONTROLLERS_IRON
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 CartesianComplianceController::on_init()
 {
@@ -77,21 +75,6 @@ CartesianComplianceController::on_init()
 
   return TYPE::SUCCESS;
 }
-#elif defined CARTESIAN_CONTROLLERS_FOXY
-controller_interface::return_type CartesianComplianceController::init(
-  const std::string & controller_name)
-{
-  using TYPE = controller_interface::return_type;
-  if (MotionBase::init(controller_name) != TYPE::OK || ForceBase::init(controller_name) != TYPE::OK)
-  {
-    return TYPE::ERROR;
-  }
-
-  auto_declare<std::string>("compliance_ref_link", "");
-
-  return TYPE::OK;
-}
-#endif
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 CartesianComplianceController::on_configure(const rclcpp_lifecycle::State & previous_state)
@@ -146,13 +129,8 @@ CartesianComplianceController::on_deactivate(const rclcpp_lifecycle::State & pre
   return TYPE::SUCCESS;
 }
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || \
-  defined CARTESIAN_CONTROLLERS_IRON
 controller_interface::return_type CartesianComplianceController::update(
   const rclcpp::Time & time, const rclcpp::Duration & period)
-#elif defined CARTESIAN_CONTROLLERS_FOXY
-controller_interface::return_type CartesianComplianceController::update()
-#endif
 {
   // Synchronize the internal model and the real robot
   Base::m_ik_solver->synchronizeJointPositions(Base::m_joint_state_pos_handles);

cartesian_controller_base/CMakeLists.txt

@@ -13,16 +13,14 @@ endif(NOT CMAKE_BUILD_TYPE)
 
 # Use CMake to pass the current ROS_DISTRO via variables into a preprocessor template.
 # We then include this file and switch between the different APIs.
-if($ENV{ROS_DISTRO} STREQUAL "iron")
-        set(CARTESIAN_CONTROLLERS_IRON TRUE)
+if($ENV{ROS_DISTRO} STREQUAL "jazzy")
+  set(CARTESIAN_CONTROLLERS_JAZZY TRUE)
+elseif($ENV{ROS_DISTRO} STREQUAL "iron")
+  set(CARTESIAN_CONTROLLERS_IRON TRUE)
 elseif($ENV{ROS_DISTRO} STREQUAL "humble")
-        set(CARTESIAN_CONTROLLERS_HUMBLE TRUE)
-elseif($ENV{ROS_DISTRO} STREQUAL "galactic")
-        set(CARTESIAN_CONTROLLERS_GALACTIC TRUE)
-elseif($ENV{ROS_DISTRO} STREQUAL "foxy")
-        set(CARTESIAN_CONTROLLERS_FOXY TRUE)
+  set(CARTESIAN_CONTROLLERS_HUMBLE TRUE)
 else()
-        message(WARNING "ROS2 version must be {iron|humble|galactic|foxy}")
+  message(WARNING "ROS2 version must be {jazzy|iron|humble}")
 endif()
 configure_file(include/cartesian_controller_base/ROS2VersionConfig.h.in ROS2VersionConfig.h)
 

cartesian_controller_base/include/cartesian_controller_base/DampedLeastSquaresSolver.h

@@ -93,12 +93,9 @@ class DampedLeastSquaresSolver : public IKSolver
      *
      * \return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
-  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-#else
-  bool init(std::shared_ptr<rclcpp::Node> nh,
-#endif
-            const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
+
+  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh, const KDL::Chain & chain,
+            const KDL::JntArray & upper_pos_limits,
             const KDL::JntArray & lower_pos_limits) override;
 
 private:

cartesian_controller_base/include/cartesian_controller_base/ForwardDynamicsSolver.h

@@ -103,12 +103,9 @@ class ForwardDynamicsSolver : public IKSolver
      *
      * @return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
-  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-#else
-  bool init(std::shared_ptr<rclcpp::Node> nh,
-#endif
-            const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
+
+  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh, const KDL::Chain & chain,
+            const KDL::JntArray & upper_pos_limits,
             const KDL::JntArray & lower_pos_limits) override;
 
 private:

cartesian_controller_base/include/cartesian_controller_base/IKSolver.h

@@ -147,13 +147,9 @@ class IKSolver
      *
      * @return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
-  virtual bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-#else
-  virtual bool init(std::shared_ptr<rclcpp::Node> nh,
-#endif
-                    const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
-                    const KDL::JntArray & lower_pos_limits);
+
+  virtual bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh, const KDL::Chain & chain,
+                    const KDL::JntArray & upper_pos_limits, const KDL::JntArray & lower_pos_limits);
 
   /**
      * @brief Update the robot kinematics of the solver

cartesian_controller_base/include/cartesian_controller_base/JacobianTransposeSolver.h

@@ -87,12 +87,9 @@ class JacobianTransposeSolver : public IKSolver
      *
      * \return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
-  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> /*nh*/,
-#else
-  bool init(std::shared_ptr<rclcpp::Node> /*nh*/,
-#endif
-            const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
+
+  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> /*nh*/, const KDL::Chain & chain,
+            const KDL::JntArray & upper_pos_limits,
             const KDL::JntArray & lower_pos_limits) override;
 
 private:

cartesian_controller_base/include/cartesian_controller_base/PDController.h

@@ -62,20 +62,12 @@ class PDController
   PDController();
   ~PDController();
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   void init(const std::string & params, std::shared_ptr<rclcpp_lifecycle::LifecycleNode> handle);
-#else
-  void init(const std::string & params, std::shared_ptr<rclcpp::Node> handle);
-#endif
 
   double operator()(const double & error, const rclcpp::Duration & period);
 
 private:
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   std::shared_ptr<rclcpp_lifecycle::LifecycleNode> m_handle;
-#else
-  std::shared_ptr<rclcpp::Node> m_handle;  ///< handle for dynamic parameter interaction
-#endif
   std::string m_params;  ///< namespace for parameter access
 
   // Gain parameters

cartesian_controller_base/include/cartesian_controller_base/ROS2VersionConfig.h.in

@@ -1,7 +1,7 @@
 // Cmake will update these defines depending on our current ROS_DISTRO.
 // We use this mechanism to react to API changes in ROS2-control.
 //
-#cmakedefine CARTESIAN_CONTROLLERS_FOXY
-#cmakedefine CARTESIAN_CONTROLLERS_GALACTIC
+
 #cmakedefine CARTESIAN_CONTROLLERS_HUMBLE
 #cmakedefine CARTESIAN_CONTROLLERS_IRON
+#cmakedefine CARTESIAN_CONTROLLERS_JAZZY

cartesian_controller_base/include/cartesian_controller_base/SelectivelyDampedLeastSquaresSolver.h

@@ -91,12 +91,9 @@ class SelectivelyDampedLeastSquaresSolver : public IKSolver
      *
      * \return True, if everything went well
      */
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
-  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-#else
-  bool init(std::shared_ptr<rclcpp::Node> nh,
-#endif
-            const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
+
+  bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh, const KDL::Chain & chain,
+            const KDL::JntArray & upper_pos_limits,
             const KDL::JntArray & lower_pos_limits) override;
 
 private:

cartesian_controller_base/include/cartesian_controller_base/SpatialPDController.h

@@ -58,11 +58,7 @@ class SpatialPDController
 public:
   SpatialPDController();
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
   bool init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> params);
-#else
-  bool init(std::shared_ptr<rclcpp::Node> params);
-#endif
 
   /**
      * @brief Call operator for one control cycle

cartesian_controller_base/include/cartesian_controller_base/cartesian_controller_base.h

@@ -87,12 +87,7 @@ class CartesianControllerBase : public controller_interface::ControllerInterface
   virtual controller_interface::InterfaceConfiguration state_interface_configuration()
     const override;
 
-#if defined CARTESIAN_CONTROLLERS_GALACTIC || defined CARTESIAN_CONTROLLERS_HUMBLE || \
-  defined CARTESIAN_CONTROLLERS_IRON
   virtual LifecycleNodeInterface::CallbackReturn on_init() override;
-#elif defined CARTESIAN_CONTROLLERS_FOXY
-  virtual controller_interface::return_type init(const std::string & controller_name) override;
-#endif
 
   rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
     const rclcpp_lifecycle::State & previous_state) override;

cartesian_controller_base/src/DampedLeastSquaresSolver.cpp

@@ -112,11 +112,7 @@ trajectory_msgs::msg::JointTrajectoryPoint DampedLeastSquaresSolver::getJointCon
   return control_cmd;
 }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 bool DampedLeastSquaresSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-#else
-bool DampedLeastSquaresSolver::init(std::shared_ptr<rclcpp::Node> nh,
-#endif
                                     const KDL::Chain & chain,
                                     const KDL::JntArray & upper_pos_limits,
                                     const KDL::JntArray & lower_pos_limits)

cartesian_controller_base/src/ForwardDynamicsSolver.cpp

@@ -117,11 +117,7 @@ trajectory_msgs::msg::JointTrajectoryPoint ForwardDynamicsSolver::getJointContro
   return control_cmd;
 }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 bool ForwardDynamicsSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-#else
-bool ForwardDynamicsSolver::init(std::shared_ptr<rclcpp::Node> nh,
-#endif
                                  const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
                                  const KDL::JntArray & lower_pos_limits)
 {

cartesian_controller_base/src/IKSolver.cpp

@@ -102,11 +102,7 @@ void IKSolver::synchronizeJointPositions(
   }
 }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 bool IKSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> /*nh*/,
-#else
-bool IKSolver::init(std::shared_ptr<rclcpp::Node> /*nh*/,
-#endif
                     const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
                     const KDL::JntArray & lower_pos_limits)
 {

cartesian_controller_base/src/JacobianTransposeSolver.cpp

@@ -102,11 +102,7 @@ trajectory_msgs::msg::JointTrajectoryPoint JacobianTransposeSolver::getJointCont
   return control_cmd;
 }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 bool JacobianTransposeSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-#else
-bool JacobianTransposeSolver::init(std::shared_ptr<rclcpp::Node> nh,
-#endif
                                    const KDL::Chain & chain, const KDL::JntArray & upper_pos_limits,
                                    const KDL::JntArray & lower_pos_limits)
 {

cartesian_controller_base/src/PDController.cpp

@@ -47,12 +47,8 @@ PDController::PDController() : m_last_p_error(0.0) {}
 
 PDController::~PDController() {}
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 void PDController::init(const std::string & params,
                         std::shared_ptr<rclcpp_lifecycle::LifecycleNode> handle)
-#else
-void PDController::init(const std::string & params, std::shared_ptr<rclcpp::Node> handle)
-#endif
 {
   m_params = params;
   m_handle = std::move(handle);

cartesian_controller_base/src/SelectivelyDampedLeastSquaresSolver.cpp

@@ -136,11 +136,7 @@ trajectory_msgs::msg::JointTrajectoryPoint SelectivelyDampedLeastSquaresSolver::
   return control_cmd;
 }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 bool SelectivelyDampedLeastSquaresSolver::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> nh,
-#else
-bool SelectivelyDampedLeastSquaresSolver::init(std::shared_ptr<rclcpp::Node> nh,
-#endif
                                                const KDL::Chain & chain,
                                                const KDL::JntArray & upper_pos_limits,
                                                const KDL::JntArray & lower_pos_limits)

cartesian_controller_base/src/SpatialPDController.cpp

@@ -56,11 +56,7 @@ ctrl::Vector6D SpatialPDController::operator()(const ctrl::Vector6D & error,
   return m_cmd;
 }
 
-#if defined CARTESIAN_CONTROLLERS_HUMBLE || defined CARTESIAN_CONTROLLERS_IRON
 bool SpatialPDController::init(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> handle)
-#else
-bool SpatialPDController::init(std::shared_ptr<rclcpp::Node> handle)
-#endif
 {
   // Create pd controllers for each Cartesian dimension
   for (int i = 0; i < 6; ++i)  // 3 transition, 3 rotation