Merge branch 'master' into feat/AddIndicesFollowJointTrajectory

ros-controls · Dec 6, 2023 · c6b7089 · c6b7089
2 parents 89ef9f7 + 337b934
commit c6b7089
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diff --git a/.github/workflows/build-foxy.yml b/.github/workflows/build-foxy.yml
diff --git a/.github/workflows/build-galactic.yml b/.github/workflows/build-galactic.yml
diff --git a/.github/workflows/build-humble.yml b/.github/workflows/build-humble.yml
@@ -25,7 +25,7 @@ jobs:
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws

diff --git a/.github/workflows/build-rolling.yml b/.github/workflows/build-rolling.yml
@@ -25,7 +25,7 @@ jobs:
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws

diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
@@ -12,8 +12,8 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4.5.0
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v4.7.1
       with:
         python-version: '3.10'
     - name: Install system hooks

diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
@@ -21,6 +21,6 @@ jobs:
     name: "${{ matrix.distro }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: industrial_ci
         uses: ros-industrial/industrial_ci@master
diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
@@ -5,13 +5,13 @@ on:
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
           linter: [copyright, lint_cmake]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:

diff --git a/README.md b/README.md
@@ -1,16 +1,17 @@
 control_msgs
 ===========
 
-See [control_msgs documentation](http://wiki.ros.org/control_msgs) on ros.org
+See [control_msgs documentation](https://index.ros.org/p/control_msgs/) on index.ros.org
 
 
 ### Build Status
 
-Kinetic <br /> Melodic <br /> Noetic | Crystal <br /> Dashing <br /> Eloquent | Foxy | Galactic | Humble | Rolling
-:----------------------------------: | :------------------------------------: | :--: | :------: | :----: | :-----:
-[kinetic-devel](https://github.com/ros-controls/control_msgs/tree/kinetic-devel) | [crystal-devel](https://github.com/ros-controls/control_msgs/tree/crystal-devel) | [foxy-devel](https://github.com/ros-controls/control_msgs/tree/foxy-devel) | [galactic-devel](https://github.com/ros-controls/control_msgs/tree/galactic-devel) | [humble](https://github.com/ros-controls/control_msgs/tree/humble) | [master](https://github.com/ros-controls/control_msgs/tree/master)
-[![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build foxy](https://github.com/ros-controls/control_msgs/actions/workflows/build-foxy.yml/badge.svg?branch=foxy-devel)](https://github.com/ros-controls/control_msgs/actions/workflows/build-foxy.yml) | [![Build galactic](https://github.com/ros-controls/control_msgs/actions/workflows/build-galactic.yml/badge.svg)](https://github.com/ros-controls/control_msgs/actions/workflows/build-galactic.yml) | [![Build humble](https://github.com/ros-controls/control_msgs/actions/workflows/build-humble.yml/badge.svg)](https://github.com/ros-controls/control_msgs/actions/workflows/build-humble.yml) | [![Build rolling](https://github.com/ros-controls/control_msgs/actions/workflows/build-rolling.yml/badge.svg)](https://github.com/ros-controls/control_msgs/actions/workflows/build-rolling.yml)
-
+| Distribution | Repository Link | Build Status |
+|--------------|-----------------|--------------|
+| Noetic       | [kinetic-devel](https://github.com/ros-controls/control_msgs/tree/kinetic-devel) | [Build status](https://travis-ci.org/ros-controls/control_msgs) |
+| Humble      | [humble](https://github.com/ros-controls/control_msgs/tree/humble) | [![Build humble](https://github.com/ros-controls/control_msgs/actions/workflows/build-humble.yml/badge.svg)](https://github.com/ros-controls/control_msgs/actions/workflows/build-humble.yml) |
+| Iron     | [master](https://github.com/ros-controls/control_msgs/tree/master) | [![Build rolling](https://github.com/ros-controls/control_msgs/actions/workflows/build-rolling.yml/badge.svg)](https://github.com/ros-controls/control_msgs/actions/workflows/build-rolling.yml) |
+| Rolling     | [master](https://github.com/ros-controls/control_msgs/tree/master) | [![Build rolling](https://github.com/ros-controls/control_msgs/actions/workflows/build-rolling.yml/badge.svg)](https://github.com/ros-controls/control_msgs/actions/workflows/build-rolling.yml) |
 
 ## Code Formatting
 

diff --git a/control_msgs/CHANGELOG.rst b/control_msgs/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package control_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+5.0.0 (2023-04-28)
+------------------
+* Update JTC state message (`#86 <https://github.com/ros-controls/control_msgs/issues/86>`_)
+* Contributors: Christoph Fröhlich
+
+4.3.0 (2023-04-02)
+------------------
+* Add generic messages for commanding and getting states from controllers. (`#69 <https://github.com/ros-controls/control_msgs/issues/69>`_)
+* Contributors: Dr. Denis
+
 4.2.0 (2023-03-22)
 ------------------
 * Add state message for mechanum controller #79

diff --git a/control_msgs/msg/JointTrajectoryControllerState.msg b/control_msgs/msg/JointTrajectoryControllerState.msg
@@ -1,11 +1,24 @@
+# This message presents current controller state of JTC
+
+# Header timestamp should be update time of controller state
 std_msgs/Header header
 
 string[] joint_names
-trajectory_msgs/JointTrajectoryPoint desired
-trajectory_msgs/JointTrajectoryPoint actual
-trajectory_msgs/JointTrajectoryPoint error  # Redundant, but useful
+# The set point, that is, desired state.
+trajectory_msgs/JointTrajectoryPoint reference
+# Current value of the process (ie: latest sensor measurement on the controlled value).
+trajectory_msgs/JointTrajectoryPoint feedback
+# The error of the controlled value, essentially reference - feedback (for a regular PID implementation).
+trajectory_msgs/JointTrajectoryPoint error
+# Current output of the controller.
+trajectory_msgs/JointTrajectoryPoint output
 
 string[] multi_dof_joint_names
-trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired
-trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual
-trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error  # Redundant, but useful
+# The set point, that is, desired state.
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_reference
+# Current value of the process (ie: latest sensor measurement on the controlled value).
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_feedback
+# The error of the controlled value, essentially reference - feedback (for a regular PID implementation).
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
+# Current output of the controller.
+trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_output
diff --git a/control_msgs/msg/SingleDOFState.msg b/control_msgs/msg/SingleDOFState.msg
@@ -12,7 +12,7 @@ float64 feedback
 # First time-derivative of the process value. E.g., velocity.
 float64 feedback_dot
 
-# The error of the controlled value, essentially process_value - set_point (for a regular PID implementation).
+# The error of the controlled value, essentially reference - feedback (for a regular PID implementation).
 float64 error
 
 # First time-derivative of the error of the controlled value.

diff --git a/control_msgs/package.xml b/control_msgs/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>control_msgs</name>
-  <version>4.2.0</version>
+  <version>5.0.0</version>
   <description>
     control_msgs contains base messages and actions useful for
     controlling robots.  It provides representations for controller