Skip to content
New issue

Have a question about this project? # for a free GitHub account to open an issue and contact its maintainers and the community.

#

By clicking “#”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? # to your account

Use new handles API in ros2_controllers to fix deprecation warnings #1566

Open
wants to merge 16 commits into
base: master
Choose a base branch
from
Open

Use new handles API in ros2_controllers to fix deprecation warnings #1566

Changes from 1 commit
Commits
Show all changes
16 commits
Select commit Hold shift + click to select a range
0bf0670
Fix deprecation warnings with use of new handles API in ackermann_ste…
kumar-sanjeeev Mar 2, 2025
1466fdc
Fix deprecation warnings with use of new handles API in bicycle_steer…
kumar-sanjeeev Mar 3, 2025
a447f31
Fix typo
kumar-sanjeeev Mar 3, 2025
d356e08
Fix deprecation warnings with use of new handles API in admittance_co…
kumar-sanjeeev Mar 5, 2025
e4f6aef
Fix deprecation warnings with use of new handles API in effort_contro…
kumar-sanjeeev Mar 5, 2025
44dcfcb
Fix deprecation warnings with use of new handles API in force_torque_…
kumar-sanjeeev Mar 5, 2025
39200aa
Fix deprecation warnings with use of new handles API in forward_comma…
kumar-sanjeeev Mar 5, 2025
0c044b8
Fix deprecation warnings with use of new handles API in gpio_controllers
kumar-sanjeeev Mar 5, 2025
3b4685e
Add more descriptive message for warning
kumar-sanjeeev Mar 5, 2025
12d9639
Change return from ERROR to SUCCESS to make it work in sychronous cal…
kumar-sanjeeev Mar 5, 2025
9592271
Fix deprecation warnings with use of new handles API in gripper_contr…
kumar-sanjeeev Mar 5, 2025
704096b
Fix deprecation warnings with use of new handles API in joint_state_b…
kumar-sanjeeev Mar 5, 2025
214dcd1
Fix deprecation warnings with use of new handles API in mecanum_drive…
kumar-sanjeeev Mar 5, 2025
eaec22b
Fix deprecation warnings with use of new handles API in parallel_grip…
kumar-sanjeeev Mar 5, 2025
a64136a
Fix deprecation warnings with use of new handles API in tricycle_cont…
kumar-sanjeeev Mar 7, 2025
bf43abd
Merge branch 'ros-controls:master' into fix_warnings_in_controllers/n…
kumar-sanjeeev Mar 15, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
Next Next commit
Fix deprecation warnings with use of new handles API in ackermann_ste… 
…ering_controller
  • Loading branch information
@kumar-sanjeeev
kumar-sanjeeev committed Mar 2, 2025
commit 0bf0670461c0b83d0716e79fe1e48c1921f45140
33 changes: 27 additions & 6 deletions ackermann_steering_controller/src/ackermann_steering_controller.cpp
View file
Original file line number Diff line number Diff line change
@@ -56,18 +56,39 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom

bool AckermannSteeringController::update_odometry(const rclcpp::Duration & period)
{
auto logger = get_node()->get_logger();

if (params_.open_loop)
{
odometry_.update_open_loop(last_linear_velocity_, last_angular_velocity_, period.seconds());
}
else
{
const double traction_right_wheel_value =
state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
const double traction_left_wheel_value =
state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
const double steering_right_position = state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
const double steering_left_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
const auto traction_right_wheel_value_op =
state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_optional();
const auto traction_left_wheel_value_op =
state_interfaces_[STATE_STEER_LEFT_WHEEL].get_optional();
const auto steering_right_position_op =
state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_optional();
const auto steering_left_position_op = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_optional();

if (
!traction_right_wheel_value_op.has_value() || !traction_left_wheel_value_op.has_value() ||
!steering_right_position_op.has_value() || !steering_left_position_op.has_value())
{
RCLCPP_DEBUG(
logger,
"Unable to retrieve the data from right wheel or left wheel or right steering position or "
"left steering position!");

return true;
}

const double traction_right_wheel_value = traction_right_wheel_value_op.value();
const double traction_left_wheel_value = traction_left_wheel_value_op.value();
const double steering_right_position = steering_right_position_op.value();
const double steering_left_position = steering_left_position_op.value();

if (
std::isfinite(traction_right_wheel_value) && std::isfinite(traction_left_wheel_value) &&
std::isfinite(steering_right_position) && std::isfinite(steering_left_position))
52 changes: 26 additions & 26 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
View file
Original file line number Diff line number Diff line change
@@ -143,9 +143,9 @@ TEST_F(AckermannSteeringControllerTest, reactivate_success)
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_EQ(controller_->on_deactivate(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_TRUE(std::isnan(controller_->command_interfaces_[0].get_value()));
ASSERT_TRUE(std::isnan(controller_->command_interfaces_[0].get_optional().value()));
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
ASSERT_TRUE(std::isnan(controller_->command_interfaces_[0].get_value()));
ASSERT_TRUE(std::isnan(controller_->command_interfaces_[0].get_optional().value()));

ASSERT_EQ(
controller_->update(rclcpp::Time(0, 0, RCL_ROS_TIME), rclcpp::Duration::from_seconds(0.01)),
@@ -176,17 +176,17 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic)

// we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
EXPECT_NEAR(
controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
COMMON_THRESHOLD);
controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_optional().value(),
0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(
controller_->command_interfaces_[CMD_TRACTION_LEFT_WHEEL].get_value(), 0.22222222222222224,
COMMON_THRESHOLD);
controller_->command_interfaces_[CMD_TRACTION_LEFT_WHEEL].get_optional().value(),
0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(
controller_->command_interfaces_[CMD_STEER_RIGHT_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);
controller_->command_interfaces_[CMD_STEER_RIGHT_WHEEL].get_optional().value(),
1.4179821977774734, COMMON_THRESHOLD);
EXPECT_NEAR(
controller_->command_interfaces_[CMD_STEER_LEFT_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);
controller_->command_interfaces_[CMD_STEER_LEFT_WHEEL].get_optional().value(),
1.4179821977774734, COMMON_THRESHOLD);

EXPECT_FALSE(std::isnan((*(controller_->input_ref_.readFromRT()))->twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
@@ -216,17 +216,17 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic_chained)

// we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
EXPECT_NEAR(
controller_->command_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
COMMON_THRESHOLD);
controller_->command_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_optional().value(),
0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(
controller_->command_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value(), 0.22222222222222224,
COMMON_THRESHOLD);
controller_->command_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_optional().value(),
0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(
controller_->command_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);
controller_->command_interfaces_[STATE_STEER_RIGHT_WHEEL].get_optional().value(),
1.4179821977774734, COMMON_THRESHOLD);
EXPECT_NEAR(
controller_->command_interfaces_[STATE_STEER_LEFT_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);
controller_->command_interfaces_[STATE_STEER_LEFT_WHEEL].get_optional().value(),
1.4179821977774734, COMMON_THRESHOLD);

EXPECT_TRUE(std::isnan((*(controller_->input_ref_.readFromRT()))->twist.linear.x));
EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
@@ -266,17 +266,17 @@ TEST_F(AckermannSteeringControllerTest, receive_message_and_publish_updated_stat

// we test with open_loop=false, but steering angle was not updated (is zero) -> same commands
EXPECT_NEAR(
controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_value(), 0.22222222222222224,
COMMON_THRESHOLD);
controller_->command_interfaces_[CMD_TRACTION_RIGHT_WHEEL].get_optional().value(),
0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(
controller_->command_interfaces_[CMD_TRACTION_LEFT_WHEEL].get_value(), 0.22222222222222224,
COMMON_THRESHOLD);
controller_->command_interfaces_[CMD_TRACTION_LEFT_WHEEL].get_optional().value(),
0.22222222222222224, COMMON_THRESHOLD);
EXPECT_NEAR(
controller_->command_interfaces_[CMD_STEER_RIGHT_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);
controller_->command_interfaces_[CMD_STEER_RIGHT_WHEEL].get_optional().value(),
1.4179821977774734, COMMON_THRESHOLD);
EXPECT_NEAR(
controller_->command_interfaces_[CMD_STEER_LEFT_WHEEL].get_value(), 1.4179821977774734,
COMMON_THRESHOLD);
controller_->command_interfaces_[CMD_STEER_LEFT_WHEEL].get_optional().value(),
1.4179821977774734, COMMON_THRESHOLD);

subscribe_and_get_messages(msg);