Merge branch 'master' into namespaced_example

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -35,7 +35,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.17.0
+    rev: v3.19.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -51,7 +51,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.1.0
+    rev: 7.1.1
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
@@ -72,7 +72,7 @@ repos:
       - id: ament_cppcheck
         name: ament_cppcheck
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_cppcheck
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -83,7 +83,7 @@ repos:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -95,7 +95,7 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists\.txt$
@@ -106,13 +106,13 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_copyright
         language: system
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
@@ -136,7 +136,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.1
+    rev: 0.29.4
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

doc/index.rst

@@ -185,6 +185,30 @@ Where the parameters are as follows:
 
 The same definitions apply to the ``vel_*`` parameters.
 
+The PID parameters can be defined for ``position`` or ``position_pid`` and ``velocity`` or ``velocity_pid`` command interfaces as explained above, or defining them in a YAML file and loading it in the ``gazebo_ros2_control`` plugin as below:
+
+.. code-block:: yaml
+
+  gazebo_ros2_control:
+    ros__parameters:
+      pid_gains:
+        position_pid: # (or) position
+          slider_to_cart: {kp:  100.0, kd: 10.0, ki:  1.0, max_integral_error: 10000.0}
+
+.. code-block:: xml
+
+  <gazebo>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      ...
+      <ros>
+        <argument>--ros-args</argument>
+        <argument>--params-file</argument>
+        <argument>Path to the configuration file</argument>
+      </ros>
+    </plugin>
+  </gazebo>
+
+
 Add the gazebo_ros2_control plugin
 ==========================================
 
@@ -386,10 +410,21 @@ The following examples shows a vertical cart control by a PID joint using positi
 
 .. code-block:: shell
 
+  ros2 launch gazebo_ros2_control_demos vertical_cart_example_position_pids_in_yaml.launch.py
   ros2 launch gazebo_ros2_control_demos vertical_cart_example_position_pid.launch.py
   ros2 launch gazebo_ros2_control_demos vertical_cart_example_velocity_pid.launch.py
 
 .. code-block:: shell
 
   ros2 run gazebo_ros2_control_demos example_position_pid
   ros2 run gazebo_ros2_control_demos example_velocity
+
+The ``vertical_cart_example_position_pids_in_yaml.launch.py`` example uses a YAML file as following to set the PID gains:
+
+.. code-block:: yaml
+
+  gazebo_ros2_control:
+    ros__parameters:
+      pid_gains:
+        position:
+          slider_to_cart: {kp:  100.0, kd: 10.0, ki:  1.0, max_integral_error: 10000.0}

gazebo_ros2_control/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package gazebo_ros2_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.3 (2024-09-17)
+------------------
+* Add support for getting PID parameters from loaded parameters (`#374 <https://github.com/ros-controls/gazebo_ros2_control//issues/374>`_)
+  Co-authored-by: Christoph Fröhlich <[email protected]>
+  Co-authored-by: Alejandro Hernández Cordero <[email protected]>
+* propagate gazebo remapping and other arguments to the controller node (`#370 <https://github.com/ros-controls/gazebo_ros2_control//issues/370>`_)
+* Contributors: Sai Kishor Kothakota
+
 0.7.2 (2024-07-09)
 ------------------
 * Propagate the node clock and logging interface to ResourceManager (`#357 <https://github.com/ros-controls/gazebo_ros2_control/issues/357>`_)

gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp

@@ -90,9 +90,12 @@ class GazeboSystem : public GazeboSystemInterface
     const hardware_interface::HardwareInfo & hardware_info,
     gazebo::physics::ModelPtr parent_model);
 
-  control_toolbox::Pid extractPID(
-    std::string prefix,
-    hardware_interface::ComponentInfo joint_info);
+  bool extractPID(
+    const std::string & prefix,
+    const hardware_interface::ComponentInfo & joint_info, control_toolbox::Pid & pid);
+
+  bool extractPIDFromParameters(
+    const std::string & control_mode, const std::string & joint_name, control_toolbox::Pid & pid);
 
   /// \brief Private data class
   std::unique_ptr<GazeboSystemPrivate> dataPtr;

gazebo_ros2_control/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>gazebo_ros2_control</name>
-  <version>0.7.2</version>
+  <version>0.7.3</version>
   <description>gazebo_ros2_control</description>
 
   <maintainer email="[email protected]">Alejandro Hernandez</maintainer>

gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp

@@ -359,12 +359,14 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
 
   // Create the controller manager
   RCLCPP_INFO(impl_->model_nh_->get_logger(), "Loading controller_manager");
+  rclcpp::NodeOptions options = controller_manager::get_cm_node_options();
+  options.arguments(arguments);
   impl_->controller_manager_.reset(
     new controller_manager::ControllerManager(
       std::move(resource_manager_),
       impl_->executor_,
       controllerManagerNodeName,
-      impl_->model_nh_->get_namespace()));
+      impl_->model_nh_->get_namespace(), options));
   impl_->executor_->add_node(impl_->controller_manager_);
 
   auto cm_update_rate = impl_->controller_manager_->get_update_rate();