Merge branch 'master' into robot-description-in-arg-66

ros-controls · Aug 14, 2024 · adb5f26 · adb5f26
2 parents daf0f55 + 41d9e74
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diff --git a/.github/workflows/README.md b/.github/workflows/README.md
@@ -1,7 +1,9 @@
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`rolling`](https://github.com/ros-controls/kinematics_interface/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml?branch=master) |  [API](http://docs.ros.org/en/rolling/p/kinematics_interface/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
+**Rolling** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml?branch=master) |  [API](http://docs.ros.org/en/rolling/p/kinematics_interface/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above  |  [API](http://docs.ros.org/en/jazzy/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/jazzy/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#jazzy)
+**Iron** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above  |  [API](http://docs.ros.org/en/iron/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/iron/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml?branch=master) <br />  [![Humble Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml?branch=master) | [API](http://docs.ros.org/en/humble/p/kinematics_interface/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
 
 ### Explanation of different build types

diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
@@ -15,4 +15,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: humble
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
@@ -9,10 +9,5 @@ on:
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [humble]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      os_name: ubuntu-22.04
+      ros_distro: humble
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -19,3 +19,4 @@ jobs:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
       ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
     steps:
       - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master

diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
@@ -20,7 +20,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
@@ -15,4 +15,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: rolling
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos

diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
@@ -12,7 +12,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [iron, jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos

diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
@@ -14,8 +14,19 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        include:
+        - ROS_DISTRO: iron
+          CONTAINER: ""
+          OS_NAME: ubuntu-22.04
+        - ROS_DISTRO: jazzy
+          CONTAINER: ubuntu:24.04
+          OS_NAME: ubuntu-latest
+        - ROS_DISTRO: rolling
+          CONTAINER: ubuntu:24.04
+          OS_NAME: ubuntu-latest
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
       ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
+      os_name: ${{ matrix.OS_NAME }}
+      container: ${{ matrix.CONTAINER }}
diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml
@@ -5,7 +5,7 @@ name: Auto Update pre-commit
 on:
   workflow_dispatch:
   schedule:
-    - cron: '0 0 * * 0'  # Run every Sunday at midnight
+    - cron: '0 0 1 * *'  # Runs at 00:00, on day 1 of the month
 
 jobs:
   auto_update_and_create_pr:

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -36,7 +36,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.15.2
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -49,20 +49,20 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 24.3.0
+    rev: 24.4.2
     hooks:
       - id: black
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.0.0
+    rev: 7.1.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.3
+    rev: v18.1.8
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -124,14 +124,14 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.3.0
     hooks:
       - id: codespell
         args: ['--write-changes']
         exclude: CHANGELOG\.rst|\.(svg|pyc)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.1
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/README.md b/README.md
@@ -9,6 +9,7 @@ This is a ROS 2 package for using C++ kinematics frameworks in the context of RO
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml) | [API](http://docs.ros.org/en/rolling/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/rolling/p/kinematics_interface_kdl/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above  |  [API](http://docs.ros.org/en/jazzy/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/jazzy/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#jazzy)
 **Iron** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above  |  [API](http://docs.ros.org/en/iron/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/iron/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml) | [API](http://docs.ros.org/en/humble/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/humble/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
 

diff --git a/kinematics_interface-not-released.jazzy.repos b/kinematics_interface-not-released.jazzy.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: [email protected]:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/kinematics_interface.jazzy.repos b/kinematics_interface.jazzy.repos
@@ -0,0 +1,5 @@
+repositories:
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
diff --git a/kinematics_interface/CHANGELOG.rst b/kinematics_interface/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package kinematics_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2024-05-20)
+------------------
+* Use CMake targets for eigen (`#50 <https://github.com/ros-controls/kinematics_interface/issues/50>`_)
+* Contributors: Christoph Fröhlich
+
 1.0.0 (2023-11-16)
 ------------------
 * Use a dynamic library instead of header-only (`#21 <https://github.com/ros-controls/kinematics_interface/issues/21>`_)

diff --git a/kinematics_interface/package.xml b/kinematics_interface/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>kinematics_interface</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>Kinematics interface for ROS 2 control</description>
   <maintainer email="[email protected]">Denis Štogl</maintainer>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

diff --git a/kinematics_interface_kdl/CHANGELOG.rst b/kinematics_interface_kdl/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package kinematics_interface_kdl
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2024-05-20)
+------------------
+* Read base parameter in initialize function (`#73 <https://github.com/ros-controls/kinematics_interface/issues/73>`_)
+* Use CMake targets for eigen (`#50 <https://github.com/ros-controls/kinematics_interface/issues/50>`_)
+* Contributors: Bence Magyar, Christoph Fröhlich
+
 1.0.0 (2023-11-16)
 ------------------
 * 🤔 Remove compile warnings and unify for-loop syntax. (`#15 <https://github.com/ros-controls/kinematics_interface/issues/15>`_)

diff --git a/kinematics_interface_kdl/package.xml b/kinematics_interface_kdl/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>kinematics_interface_kdl</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>KDL implementation of ros2_control kinematics interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/kinematics_interface_kdl/src/kinematics_interface_kdl.cpp b/kinematics_interface_kdl/src/kinematics_interface_kdl.cpp
@@ -27,14 +27,17 @@ bool KinematicsInterfaceKDL::initialize(
 {
   // track initialization plugin
   initialized = true;
+
+  // get parameters
+  std::string ns = !param_namespace.empty() ? param_namespace + "." : "";
 
   std::string robot_description_local;
   if (robot_description.empty())
   {
     // If the robot_description input argument is empty, try to get the
     // robot_description from the node's parameters.
     auto robot_param = rclcpp::Parameter();
-    if (!parameters_interface->get_parameter(param_namespace + "robot_description", robot_param))
+    if (!parameters_interface->get_parameter(ns + "robot_description", robot_param))
     {
       RCLCPP_ERROR(LOGGER, "parameter robot_description not set in kinematics_interface_kdl");
       return false;
@@ -46,8 +49,6 @@ bool KinematicsInterfaceKDL::initialize(
     robot_description_local = robot_description;
   }
 
-  // get parameters
-  std::string ns = !param_namespace.empty() ? param_namespace + "." : "";
   // get alpha damping term
   auto alpha_param = rclcpp::Parameter("alpha", 0.000005);
   if (parameters_interface->has_parameter(ns + "alpha"))
@@ -57,16 +58,28 @@ bool KinematicsInterfaceKDL::initialize(
   alpha = alpha_param.as_double();
   // get end-effector name
   auto end_effector_name = rclcpp::Parameter("tip", "MISSING_END_EFFECTOR_NAME");
-  if (parameters_interface->has_parameter(ns + "tip"))
+  if (parameters_interface->has_parameter(param_namespace + "tip"))
   {
     parameters_interface->get_parameter(ns + "tip", end_effector_name);
   }
 
   // create kinematic chain
   KDL::Tree robot_tree;
   kdl_parser::treeFromString(robot_description_local, robot_tree);
-  root_name_ = robot_tree.getRootSegment()->first;
-  if (!robot_tree.getChain(root_name_, end_effector_name.as_string(), chain_))
+
+  // get root name
+  auto base_param = rclcpp::Parameter();
+  if (parameters_interface->has_parameter(ns + "base"))
+  {
+    parameters_interface->get_parameter(ns + "base", base_param);
+    root_name_ = base_param.as_string();
+  }
+  else
+  {
+    root_name_ = robot_tree.getRootSegment()->first;
+  }
+
+  if (!robot_tree.getChain(root_name_, end_effector_name, chain_))
   {
     RCLCPP_ERROR(
       LOGGER, "failed to find chain from robot root %s to end effector %s", root_name_.c_str(),