Merge branch 'master' into update-diff_drive-odom

Author: Amronos

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2025-11-10)
+------------------
+* Controller interface api update to ros2_controller packages (`#1973 <https://github.com/ros-controls/ros2_controllers/issues/1973>`_)
+* Contributors: Anand Vardhan
+
 5.8.0 (2025-10-02)
 ------------------
 * Remove deprecated methods from ros2_control (`#1936 <https://github.com/ros-controls/ros2_controllers/issues/1936>`_)

ackermann_steering_controller/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>ackermann_steering_controller</name>
-  <version>5.8.0</version>
+  <version>6.0.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

ackermann_steering_controller/src/ackermann_steering_controller.cpp

@@ -45,7 +45,7 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom
 
   odometry_.set_wheel_params(
     traction_wheels_radius, wheelbase, steering_track_width, traction_track_width);
-  odometry_.set_odometry_type(steering_odometry::ACKERMANN_CONFIG);
+  odometry_.set_odometry_type(steering_kinematics::ACKERMANN_CONFIG);
 
   set_interface_numbers(NR_STATE_ITFS, NR_CMD_ITFS, NR_REF_ITFS);
 

ackermann_steering_controller/test/test_ackermann_steering_controller.cpp

@@ -82,11 +82,11 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
 
   // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
-  ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
-  for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
+  ASSERT_EQ(reference_interfaces.size(), reference_interface_names_.size());
+  for (size_t i = 0; i < reference_interface_names_.size(); ++i)
   {
     const std::string ref_itf_prefix_name =
-      std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
+      std::string(controller_->get_node()->get_name()) + "/" + reference_interface_names_[i];
     EXPECT_EQ(
       reference_interfaces[i]->get_name(),
       ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);
@@ -186,7 +186,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic)
     1.4179821977774734, COMMON_THRESHOLD);
 
   EXPECT_FALSE(std::isnan(controller_->input_ref_.get().twist.linear.x));
-  EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
+  EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
   for (const auto & interface : controller_->reference_interfaces_)
   {
     EXPECT_TRUE(std::isnan(interface));
@@ -226,7 +226,7 @@ TEST_F(AckermannSteeringControllerTest, test_update_logic_chained)
     1.4179821977774734, COMMON_THRESHOLD);
 
   EXPECT_TRUE(std::isnan(controller_->input_ref_.get().twist.linear.x));
-  EXPECT_EQ(controller_->reference_interfaces_.size(), joint_reference_interfaces_.size());
+  EXPECT_EQ(controller_->reference_interfaces_.size(), reference_interface_names_.size());
   for (const auto & interface : controller_->reference_interfaces_)
   {
     EXPECT_TRUE(std::isnan(interface));

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -303,7 +303,7 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 
   std::array<double, 4> joint_state_values_ = {{0.5, 0.5, 0.0, 0.0}};
   std::array<double, 4> joint_command_values_ = {{1.1, 3.3, 2.2, 4.4}};
-  std::array<std::string, 2> joint_reference_interfaces_ = {{"linear", "angular"}};
+  std::array<std::string, 2> reference_interface_names_ = {{"linear", "angular"}};
   std::string steering_interface_name_ = "position";
   // defined in setup
   std::string traction_interface_name_ = "";

ackermann_steering_controller/test/test_ackermann_steering_controller_preceding.cpp

@@ -84,11 +84,11 @@ TEST_F(AckermannSteeringControllerTest, check_exported_interfaces)
 
   // check ref itfs
   auto reference_interfaces = controller_->export_reference_interfaces();
-  ASSERT_EQ(reference_interfaces.size(), joint_reference_interfaces_.size());
-  for (size_t i = 0; i < joint_reference_interfaces_.size(); ++i)
+  ASSERT_EQ(reference_interfaces.size(), reference_interface_names_.size());
+  for (size_t i = 0; i < reference_interface_names_.size(); ++i)
   {
     const std::string ref_itf_prefix_name =
-      std::string(controller_->get_node()->get_name()) + "/" + joint_reference_interfaces_[i];
+      std::string(controller_->get_node()->get_name()) + "/" + reference_interface_names_[i];
     EXPECT_EQ(
       reference_interfaces[i]->get_name(),
       ref_itf_prefix_name + "/" + hardware_interface::HW_IF_VELOCITY);

admittance_controller/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2025-11-10)
+------------------
+* Use NodeInterfaces for TransformBroadcaster construction (`#1981 <https://github.com/ros-controls/ros2_controllers/issues/1981>`_)
+* Controller interface api update to ros2_controller packages (`#1973 <https://github.com/ros-controls/ros2_controllers/issues/1973>`_)
+* Contributors: Anand Vardhan, Christoph Fröhlich
+
 5.8.0 (2025-10-02)
 ------------------
 * Update API for realtime publisher (`#1830 <https://github.com/ros-controls/ros2_controllers/issues/1830>`_)

admittance_controller/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>admittance_controller</name>
-  <version>5.8.0</version>
+  <version>6.0.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
 
   <maintainer email="[email protected]">Bence Magyar</maintainer>

admittance_controller/test/test_admittance_controller.hpp

@@ -35,6 +35,10 @@
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "rclcpp/parameter_value.hpp"
+#include "rclcpp/version.h"
+#if RCLCPP_VERSION_GTE(18, 0, 0)
+#include "rclcpp/node_interfaces/node_interfaces.hpp"
+#endif
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
 #include "test_asset_6d_robot_description.hpp"
@@ -220,7 +224,15 @@ class AdmittanceControllerTest : public ::testing::Test
 
   void broadcast_tfs()
   {
+#if RCLCPP_VERSION_GTE(18, 0, 0)
+    static tf2_ros::TransformBroadcaster br(
+      rclcpp::node_interfaces::NodeInterfaces(
+        test_broadcaster_node_->get_node_parameters_interface(),
+        test_broadcaster_node_->get_node_topics_interface()));
+#else
     static tf2_ros::TransformBroadcaster br(test_broadcaster_node_);
+#endif
+
     geometry_msgs::msg::TransformStamped transform_stamped;
 
     transform_stamped.header.stamp = test_broadcaster_node_->now();

bicycle_steering_controller/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2025-11-10)
+------------------
+* Controller interface api update to ros2_controller packages (`#1973 <https://github.com/ros-controls/ros2_controllers/issues/1973>`_)
+* Contributors: Anand Vardhan
+
 5.8.0 (2025-10-02)
 ------------------
 * Remove deprecated methods from ros2_control (`#1936 <https://github.com/ros-controls/ros2_controllers/issues/1936>`_)