- Add checks if hardware is initialized. (#1054)
- Contributors: Dr. Denis
- Enable setting of initial state in HW compoments (#1046)
- Ensure instantiation of hardware classes work for python bindings (#1058)
- Contributors: Dr. Denis, Olivier Stasse
- Add -Wconversion flag to protect future developments (#1053)
- [CM] Use robot_description topic instead of parameter and don't crash on empty URDF 🦿 (#940)
- [MockHardware] Enable disabling of command to simulate HW failures. (#1027)
- enable ReflowComments to also use ColumnLimit on comments (#1037)
- Docs: Use branch name substitution for all links (#1031)
- [URDF Parser] Allow empty urdf tag, e.g., parameter (#1017)
- Use consequently 'mock' instead of 'fake'. (#1026)
- Contributors: Christoph Fröhlich, Dr. Denis, Felix Exner (fexner), Manuel Muth, Sai Kishor Kothakota, gwalck
- Add class for thread management of async hw interfaces (#981)
- Fix github links on control.ros.org (#1019)
- Update precommit libraries(#1020)
- Implement parse_bool and refactor a few (#1014)
- docs: Fix link to hardware_components (#1009)
- Contributors: Alejandro Bordallo, Christoph Fröhlich, Felix Exner (fexner), Márk Szitanics, mosfet80
- Check for missing hardware interfaces that use the gpio tag. (#975)
- Contributors: Ryan Sandzimier
- Split transmission interfaces (#938)
- Contributors: Noel Jiménez García
- Fix CMake install so overriding works (#926)
- Async params (#927)
- Contributors: Márk Szitanics, Tyler Weaver
- Make double parsing locale independent (#921)
- Contributors: Henning Kayser
- 🔧 Fixes and updated on pre-commit hooks and their action (#890)
- Contributors: Denis Štogl
- ResourceManager doesn't always log an error on shutdown anymore (#867)
- Rename class type to plugin name #api-breaking #abi-breaking (#780)
- Contributors: Bence Magyar, Christopher Wecht
- [MockHardware] Enalbe initialization non-joint components(#822)
- Contributors: Felix Exner
- [MockComponents] Rename 'fake_sensor_commands' to 'mock_sensor_commands' (#782)
- fix broken links (issue #831) (#833)
- Contributors: Kvk Praneeth, Manuel Muth, Bence Magyar, Denis Štogl
- Cleanup Resource Manager a bit to increase clarity. (#816)
- Handle hardware errors in Resource Manager (#805) * Add code for deactivating controller when hardware gets an error on read and write.
- Contributors: Denis Štogl
- Add doxygen comments (#777)
- Contributors: Bence Magyar, Denis Štogl
- Fix fake components deprecation and add test for it (#771)
- Contributors: Bence Magyar
- Hardware interface specific update rate and best practices about it (#716)
- Deprecate fake components, long live mock components (#762)
- Contributors: Bence Magyar, Lovro Ivanov
- [Interfaces] Improved
`get_name()`method of hardware interfaces #api-breaking (#737) - Update maintainers of packages (#753)
- Remove ament autolint (#749)
- Full functionality of chainable controllers in controller manager (#667) * auto-switching of chained mode in controllers * interface-matching approach for managing chaining controllers
- Contributors: Bence Magyar, Denis Štogl, Lucas Schulze
- Make RHEL CI happy! (#730)
- CMakeLists cleanup (#733)
- Refactored error handling when hardware name is duplicated (#724)
- Update to clang format 12 (#731)
- Contributors: Andy Zelenak, Bence Magyar, Kvk Praneeth, Márk Szitanics
- Resource Manager extension to support management of reference interfaces from chained controllers. (#664) * Extend resource manager to manage reference interfaces from controllers. * Adjust interface between CM and RM for managing controllers' reference interfaces.
- Contributors: Denis Štogl
- Pass time and period to read() and write() (#715)
- Contributors: Bence Magyar
- Make URDF available to HW components on initialize (#709)
- Contributors: Bence Magyar
- Error if a hardware name is duplicated (#672)
- Port four bar linkage and differential transmission loaders from ROS1 (#656)
- Contributors: Andy Zelenak, Márk Szitanics
- Require lifecycle-msgs in hardware_interface package (#675) (#678)
- Using should be inside namespace and not global scope. (#673)
- Modernize C++: Use for-each loops in Resource Manager. (#659)
- Enable controller manager services to control hardware lifecycle #abi-breaking (#637) * Implement CM services for hardware lifecycle management. * Added default behavior to activate all controller and added description of CM parameters.
- Contributors: Denis Štogl
- Fix transmission loader tests (#642)
- Contributors: Bence Magyar, Denis Štogl
- Add a warning if an initial_value is not found for any interface (#623)
- Contributors: AndyZe
- Resource Manager API changes for hardware lifecycle #api-breaking #abi-breaking (#589) * Towards selective starting and stoping of hardware components. Cleaning and renaming. * Move Lifecycle of hardware component to the bottom for better overview. * Use the same nomenclature as for controllers. 'start' -> 'activate'; 'stop' -> 'deactivate' * Add selective starting and stopping of hardware resources. Add HardwareComponentInfo structure in resource manager. Use constants for HW parameters in tests of resource_manager. Add list hardware components in CM to get details about them and check their status. Use clear name for 'guard' and move release cmd itfs for better readability. RM: Add lock for accesing maps with stored interfaces. Separate hardware components-related services after controllers-related services. Add service for activate/deactive hardware components. Add activation and deactivation through ResourceStorage. This helps to manage available command interfaces. * Use lifecycle_msgs/State in ListHardwareCompoents for state representation. * Simplify repeatable code in methods. * Add HW shutdown structure into ResouceManager. * Fill out service callback in CM and add parameter for auto-configure. * Move claimed_command_itf_map to ResourceStorage from ResourceManager. * Do not automatically configure hardware in RM. * Lifecycle and claiming in Resource Manager is working. * Extend controller manager to support HW lifecycle. * Add also available and claimed status into list components service output. * Add SetHardwareComponentState service. * Make all output in services debug-output. * Remove specific services for hardware lifecycle management and leave only 'set_hardware_component_state' service. * Make init_resource_manager less stateful. * Keep old api to start/activate all components per default. * Remove 'moving'/'non-moving' interface-handling. * Remove obsolete 'import_components' methods without hardware info and fix post_initialization test. Co-authored-by: Bence Magyar <[email protected]>
- Doc 📓: Add detailed explanation about writing new hardware interface. (#615)
- Contributors: Denis Štogl
- Removing 'auto' from function definition to support pre c++ 20 (#608)
- Support of "initial_value" for the 'FakeSystem' (#598)
- Contributors: bailaC, Denis Štogl
- Adding support for 'initial_value' parameter. (#593)
- fix copy paste error in documentation (#594)
- Use lambda functions in ros2_control generic_system for repetitive tasks (#579) Co-authored-by: Denis Štogl <[email protected]>
- Extend FakeHardware to support <gpio>-tag (#574)
- Contributors: Michael, bailaC, Denis Štogl
- Import and Initialize components (#566)
- Contributors: Alejandro Hernández Cordero
- Handle errors of hardware that happen on read and write. (#546)
- Contributors: Denis Štogl, Mathias Aarbo
- Hardware components extension for lifecycle support (#503)
- add M_PI macro for windows in test_component_parser.cpp (#502)
- Extend GenericSystem by adding mapping of position with offset to custom interface. (#469)
- Remove BOOST compiler definitions for pluginlib from CMakeLists (#514)
- Do not manually set C++ version to 14 (#516)
- Contributors: Bence Magyar, Denis Štogl, dzyGIT
- Use clang format as code formatter (#491)
- Fixup doc typo (#492)
- Add docs for fake components (#466)
- sort interfaces in resource manager (#483)
- fix format (#484)
- Transmission parsing v2 (#471) * move parsing responsibility to hardware_interface * parse transmission type * Cleanup unused parser
- Add pre-commit setup. (#473)
- Extended GenericSystem with state offset options for testing some special control cases. (#350) * Extended GenericSystem with state offset options for testing some special control cases. * Better parameter name * Apply offset only to position interfaces.
- Added GPIO parsing and test (#436)
- Fixes for windows (#443) * Fix building on windows * Fix MSVC linker error when building tests * Fix hang when loading controller on windows * Use better log for configuring controller * Be consistent with visibility control * Use try_lock throw exception on failure
- Contributors: Akash, Bence Magyar, Denis Štogl, Karsten Knese, Mathias Arbo, Jafar Abdi
- [FakeSystem] Set default command interface to NaN (#424)
- Contributors: Denis Štogl, Bence Magyar
- Add FTS as first semantic components to simplify controllers. (#370)
- Contributors: bailaC, Denis Štogl, Jordan Palacios
- Remove the with_value_ptr and class templatization for ReadOnlyHandle (#379)
- fake_components: Add mimic joint to generic system (#409)
- List controller claimed interfaces (#407)
- Contributors: El Jawad Alaa, Jafar Abdi, Jordan Palacios, Bence Magyar
- Make hardware interface types as const char array rather than const char pointer (#408)
- use auto instead of uint (#398)
- hardware_interface mode switching using prepareSwitch doSwitch approach (#348)
- avoid deprecations (#393)
- move deprecation note before function definition instead of inside (#381)
- Replace standard interfaces' hard-coded strings by constants (#376)
- add deprecation note for with_value_ptr (#378)
- Contributors: El Jawad Alaa, Jafar Abdi, Karsten Knese, Mateus Amarante, Mathias Hauan Arbo, Bence Magyar
- [ros2_control_test_assets] Fix typo (#371)
- uint -> size_t, 0u and auto (#346)
- Contributors: Karsten Knese, Yutaka Kondo
- Capatalized error message and put the controllers name and resource name inside quote (#338)
- Parse True and true in fakesystem, touch up variable name
- Contributors: Denis Štogl, suab321321
- Remove unused include (#336)
- Contributors: Bence Magyar
- Add "Fake" components for simple integration of framework (#323)
- Contributors: Denis Štogl
- correct hardware interface validation in resource manager. (#317)
- Contributors: Karsten Knese
- Add test assets package (#289)
- update doxygen style according to ros2 core standard (#300)
- Move test_components from test_robot_hardware to hardware_interface package (#288)
- Contributors: Denis Štogl, João Victor Torres Borges
- Added starting of resources into CM and RM (#240)
- Use resource manager (#236)
- Use constants instead of strings in tests (#241)
- resource loaning (#224)
- Allocate memory for components and handles (#207)
- rename command/state handles to command/state interfaces (#223)
- Remodel component interfaces (#203)
- adapt component parser to new xml schema (#209)
- remove logical components, move hardware resources (#201)
- Replace rclcpp by rcutils logging tools in hardware_interface pkg (#205)
- Add a struct for Interface information, update the test URDF (#167)
- Add virtual modifier to the functions of Joint and Sensor component (#178)
- Hide component parser api (#157)
- Remove old joint state and joint command handles (#134)
- New version of component parser (#127)
- Dynamic joint handles (#125)
- Hardware component interfaces (#121)
- Add ActuatorHandle and Implement string-based interface handle-handling using DynamicJointState message (#112)
- Change Hardware return type to enum class (#114)
- Replace RCUTILS_ with RCLCPP_ for logging (#62)
- import hardware_interface
- Contributors: Andreas Klintberg, Andy Zelenak, Bence Magyar, Colin MacKenzie, Denis Štogl, Jafar Abdi, Jordan Palacios, Karsten Knese, Mateus Amarante, Matthew Reynolds, Victor Lopez, Yutaka Kondo