CANopen Mock Slaves

Motion Controller Slaves

Supported modes:

• Cyclic Position
• Profiled Position (Thanks to motion generator https://github.com/EFeru/MotionGenerator)

Changelog for package canopen_fake_slaves

0.2.11 (2024-04-22)

0.2.10 (2024-04-22)

• Merge pull request #281 from ipa-vsp/humble Sync Humble
• Merge remote-tracking branch 'industrial/humble' into humble
• synch humble
• 0.2.7
• Update changelog
• Add missing license headers and activate ament_copyright (#165)
  • Add missing license headers

  * Add fix ament_lint_cmake ---------

• 0.2.6
• Update changelogs
• 0.2.5
• Update changelogs
• 0.2.4
• Update changelog
• 0.2.3
• Update Changelogs
• 0.2.2
• Update Changelogs
• 0.2.7
• Update changelog
• Add missing license headers and activate ament_copyright (#165)
  • Add missing license headers

  * Add fix ament_lint_cmake ---------

• 0.2.6
• Update changelogs
• 0.2.5
• Update changelogs
• 0.2.4
• Update changelog
• 0.2.3
• Update Changelogs
• 0.2.2
• Update Changelogs
• Sync humble branch with 0.2.1 release (#153)
  • Update rolling.yml

  * Merge pull request #152 from ros-industrial/fix-bdist-dep-in-lely-core Do not build dcf-tools bdist in lely_core_libraries * Merge pull request #142 from ros-industrial/iron-test-fixes-controllers Don't use ros2_control_test_assets since not needed anymore. Add load tests for all controllers. * Merge pull request #145 from ros-industrial/consistent-output-of-hex-values Use consistenlty (uppercase) HEX output for NodeID and Index. * Merge pull request #151 from ros-industrial/upgrade-launch-tests Fix proxy driver lifecyle and launch tests

  • Update Changelogs
  • 0.2.1
  • Fix build warnings

  * Update status badge. ---------Co-authored-by: Christoph Hellmann Santos <<51296695+ipa-cmh@users.noreply.github.com>> Co-authored-by: Christoph Hellmann Santos <<christoph.hellmann.santos@ipa.fraunhofer.de>>

• 0.2.1
• Update Changelogs
• Merge pull request #151 from ros-industrial/upgrade-launch-tests Fix proxy driver lifecyle and launch tests
• Merge pull request #144 from ipa-vsp/humble Sync humble with Beta (0.2.0) release
• 0.2.0
• Update changelog
• Update changelofs
• Update package versions to 0.1.0 (#133)
• run interpolated mode in fake slave (#126)
• Beta release preparations (#120)
  • Improve lely compilation time
  • Bump lely_core_librries to version 2.3.2
  • Add license files
  • Adapt package xml
  • Add changelogs - forthcoming for now.
  • Update readme

  * Add apacje-2.0 license notifications to files ---------

• Sync humble with newest changes (#123)
  • Introduce canopen system interface.
  • Enable easy testing temporarily.
  • Print config paths on init.
  • Add device manager and executor.
  • Start device manager in system interface.
  • Add nmt and rpdo callbacks.
  • Remove pedantic cmake flags.
  • Add internal caching structures for canopen nodes.
  • Expose necessary stuff from proxy driver.
  • Apply suggestions from code review
  • Fix dependencies for canopen_ros2_control.
  • Move device manager instantation into on_config.
  • Introduce canopen system interface.
  • Enable easy testing temporarily.
  • Print config paths on init.
  • Add device manager and executor.
  • Start device manager in system interface.
  • Add nmt and rpdo callbacks.
  • Remove pedantic cmake flags.
  • Add internal caching structures for canopen nodes.
  • Expose necessary stuff from proxy driver.
  • Apply suggestions from code review
  • Add missig dependencies and execute tests only when testing.
  • Remove unneccesary deps.
  • Rename "device manager" to "device container" and disable test because it is now working in the current setup.
  • Update .gitignore
  • Remove some unecessary changes.
  • Fix merging issues.
  • Update visibility-control macros.
  • Disable test because they can not be eaisly tested.
  • Update canopen_core/CMakeLists.txt
  • Solve Boot Error (#49)
  • Update CI for new version branches
  • Simplify configuration folder and use existing .eds, .dcf file. Improve test launch file. Update runtime deps.
  • Add template for canopen proxy controller.
  • Add dummy services, rt publishers and subscribers to proxy controller.
  • Expose controller plugin. Start canopen proxy controller instance in example.
  • Add publishing of rpdo and nmt state.
  • Add service one shot mechanisms.
  • Apply suggestions from code review
  • Add tests to canopen_tests
  • Reorganise test launch system
  • update package.xml
  • further changes
  • Remove bus.yml
  • Adapt canopen_system.launch.py for 2 nodes
  • Update documentation in the readme
  • Add documentation about testing ros2_control generic interface.
  • Disable dynamic loading for containers (#50)
  • disable loader service
  • Remove artifacts
  • Publish joint state instead of velocity topics (#47)
  • disable loader service
  • add custom target/command and install to macro
  • publish jointstate
  • correct variable name squiggle
  • Minor changes to driver and slave
  • Update lely core library
  • Add sensor_msgs to dependencies
  • Remove artifacts
  • Remove some artifacts
  • Add configuration parameter passthrough (#52)

  * Apply suggestions from code review Co-authored-by: Christoph Hellmann Santos <<51296695+ipa-cmh@users.noreply.github.com>>

  • Correct macro names.
  • Add service qos specific profile.
  • Introduce tests. Adapt proxy controller for easier testing.
  • Update README.md

  * make documentation on test with ros2_control more detailed Make the test documentation a small example with explanations of the functionality.

  • Add in code documentation for canopen_core (#53)
  • Document device container node
  • Document lely_master_bridge
  • Document Lifecycle Device Container
  • Document Lifecycle Device Manager
  • Document LifecyleMasterNode
  • Document Master Node
  • Fix error
  • Document lifecycle base driver
  • Document lely bridge
  • Document canopen_proxy_driver
  • Document canopen_402_driver
  • Restructure documentation (#37)
  • Document device container node
  • Document lely_master_bridge
  • Document Lifecycle Device Container
  • Document Lifecycle Device Manager
  • Document LifecyleMasterNode
  • Document Master Node
  • Fix error
  • Document lifecycle base driver
  • Document lely bridge
  • Document canopen_proxy_driver
  • Document canopen_402_driver
  • Update sphinx documentation
  • Add profiled position to mock slave (#58)
  • Implement review requests regarding tests.
  • Add core node interfaces
  • Add errors
  • Add node base classes
  • Remove device and do some renaming
  • Add tests to canopen core
  • Update CmakeFile of canopen core
  • Add canopen_master_driver package and contents
  • Make changes to canopen_base_driver for new structure
  • Change canopen_base_driver for templating problems
  • Add canopen_proxy_driver with new framework
  • canopen_402_driver adaption to new framework
  • Update header guards
  • Add device container and general changes to make things work.
  • Add function to device container
  • Integration with ros2_control
  • Add type accessor functions to device_container
  • add node interface accessor and lifecycle information to drivers
  • Add master dcfs and remove from gitignore
  • Add 402 driver functions for ros2_control
  • Add CanopenDriverInterface Documentation
  • Feature parity for lifecycle nodes
  • Fix canopen_master_driver for explicit instantiation
  • Fix canopen_master_driver tests
  • Fix tests canopen_core
  • Fix tests base driver
  • Try running source install/setup.bash
  • Fix integration tests
  • Integrate lifecycle manager
  • Fix get speed and get position
  • Fix node_canopen_402_drivers add_to_master and handlers
  • Streamline logging
  • Remove canopen_lifecycle.launch.py as it i no longer needed.
  • Add lifecycle manager to device_container library
  • Undo formatting in ros2_control
  • fix ci
  • Fix 402 issues from testing
  • undo renaming can_interface_name -> can_interface

  * Publish to joint_states, not joint_state (#63) Co-authored-by: G.A. vd. Hoorn <<g.a.vanderhoorn@tudelft.nl>> Co-authored-by: Christoph Hellmann Santos <<christoph.hellmann.santos@ipa.fraunhofer.de>>

  • Add unit tests for canopen_core (#64)
  • Testing changes to canopen_core
  • Testing changes to canopen_base_driver and canopen_402_driver
  • Add canopen_core tests (90% coverage)
  • Fix DriverException error in canopen_402_driver
  • Catch errors in nmt and rpdo listeners
  • Fix naming issues
  • Fix deactivate transition
  • Fix unclean shutdown
  • Rename canopen_mock_slave package to canopen_fake_slaves (#66)
  • Testing changes to canopen_core
  • Testing changes to canopen_base_driver and canopen_402_driver
  • Add canopen_core tests (90% coverage)
  • Fix DriverException error in canopen_402_driver
  • Catch errors in nmt and rpdo listeners
  • Fix naming issues
  • Fix deactivate transition
  • Fix unclean shutdown
  • Rename canopen_mock_slave to canopen_fake_slaves
  • Build flage CANOPEN_ENABLED for disabling tests on CI.
  • Update deployment
  • Documentation for streamlined design (#67)
  • Add canopen_core tests (90% coverage)
  • Restructure and add plantuml
  • Changes to quickstart/configuration

  * Revert "Add canopen_core tests (90% coverage)" as it is not needed. This reverts commit 771c498347f190777fb28edfd5044b96cbfd7bf0.

  • Create custom driver documentation
  • Remove breathe api reference and use doxygen
  • Update interface and naming information for drivers
  • Update test documentation
  • install plantuml
  • Update README.md
  • Add bare-bone 402 profile system interface.
  • Add position and speed getter.
  • State and command interfaces.
  • Update dependencies.
  • To protected members for easier inheritance policy.
  • Fix public fcn visibility.
  • Adapt 402 hardware interface to device container getter.
  • Prepare read/write/
  • Extend 402 functions via public methods - same as callback based ones.
  • Expose 402 main functionalities to ros2_control system interface.
  • Add vel and pos interfaves.
  • Update proxy canopen system.
  • Add basic read and write. Divide targets into position, velocity, effort interfaces.
  • Duplicate some code for configure, init, write phase from proxy driver.
  • Set target based on condition.
  • Handle init, recover, halt. Switch modes.
  • Fix feedback for services for proxy driver and controlller.
  • Prepare cia 402 device controller.
  • Add base function ret values first.
  • State and command interfaces.
  • Add services for one shot interfaces in cia402 profile.
  • Better handling of base class on_methods.
  • Update runtime deps.
  • Fix joint states scaling.
  • Add virtual can example for cia 402.
  • Fix internal launch test.
  • Fix proxy test.
  • intra_process_comms
  • Doxygen documentation for canopen_core (#78)
  • canopen_core in code documentation
  • Some more documentation
  • intra_process_comms
  • Doxygen documentation for canopen_core (#78)
  • canopen_core in code documentation
  • Some more documentation
  • Remove scalers
  • Clean cia402 fake shutdown (#72)
  • adapt fake cia402 slave
  • Handle demand set master failure (#70)
  • adapt fake cia402 slave
  • Add retries for demand_set_master in case of failure
  • Scaling factors for position and velocity (#74)
  • Introduce scaling factors
  • Remove false license statements (#76)
  • Remove false license statements
  • Disable device container tests (#77)
  • Add formatters as used in ros2_control framework.
  • Changes to format and checkers
  • Substitute \@BUS_CONFIG_PATH@ in bus configuration file
  • Use \@BUS_CONFIG_PATH@ variable in bus configuration files
  • Precommit changes (#79)
  • Precommit changes
  • Update to clang-format-14
  • Don't treat options section as another device
  • Use options section in test bus config files

  * Remove references to sympy.true (#84) Co-authored-by: James Ward <<j.ward@sydney.edu.au>>

  • add short documentation
  • Add dcf_path to bus.ymls
  • Don't treat options as driver
  • Format updates
  • Better organize dependencies (#88)
  • Add EMCY callback to base driver (#91)
  • Add post build testing in readme (#87)
  • Simplify 402 driver (#89)
  • Split motor.hpp and motor.cpp into different files

  * Fix missing symbol error ---------

  • Add Interpolated Position Mode (linear only, no PT or PVT) (#90)
  • Add Interpolated Position Mode (linear only, no PT or PVT)
  • add interpolated position mode to system interface
  • Add interpolated position mode to controllers.

  * Add to interpolated position mode to documentation ---------

  • Fix typo in README (#92)
  • Correct repo link (#94)
  • Implemented thread-safe queue for rpdo and emcy listener (#97)
  • Boost lock free queue implemetation
  • include boost libraries in CMakelists
  • Testing rpdo/tpdo ping pond
  • pre-commit changes
  • Bugfix: implemented timeout for wait_and_pop to avoid thread blocking
  • Fixed typo
  • pre-commit update
  • FIxed: properly export Boost libraries
  • Update code documentation
  • proper vel and pos scaling from device
  • Include rpdo/tpdo test in launch_test. (#98)
  • Implement rpdo/tpdo test
  • Removed unnecessary files
  • Fix stack smashing (#103)
  • Motor Profile Updates (#101)
  • Extend and fix info statement.
  • Fix service handler overwriting.
  • Consider enum 3 as profiled velocity. Remove some code duplication by reusing private setters in service cbs. Create setter for interpolated position mode.
  • Fix cyclic position mode.
  • Simplify write method cases defined by mode of op.
  • Add driver dictionaries (#110)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue

  * Add typed sdo operations ---------

  • Remove type indication from msg and srv interfaces (#112)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue
  • Add typed sdo operations

  * Remove object datatype where possible ---------

  • Reduce processor load (#111)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue
  • Add typed sdo operations
  • Remove object datatype where possible
  • Add plain operation mode setting + switchingstate
  • Add robot system interface
  • Add robot system controller
  • Add robot_system_tests
  • Add a bit of documentation
  • Add in code documentation
  • Fix bug
  • Add examples section
  • Fix set_target for interpolated mode
  • Switch to rclcpp::sleep_for
  • Fix initialization for state and command interface variables
  • Add remade robot system interfce
  • Add copyright info
  • Fix missing return statement
  • processing behavior improvement
  • Minor changes to make things work
  • Add poll_timer_callback
  • Fix format

  * Add polling mode variable for config. ---------Co-authored-by: Vishnuprasad Prachandabhanu <<vishnu.pbhat93@gmail.com>>

  • Robot system interface (#113)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue
  • Add typed sdo operations
  • Remove object datatype where possible
  • Add plain operation mode setting + switchingstate
  • Add robot system interface
  • Add robot system controller
  • Add robot_system_tests
  • Add a bit of documentation
  • Add in code documentation
  • Fix bug
  • Add examples section
  • Fix set_target for interpolated mode
  • Switch to rclcpp::sleep_for
  • Fix initialization for state and command interface variables
  • Add remade robot system interfce
  • Add copyright info
  • Fix missing return statement
  • processing behavior improvement
  • Minor changes to make things work
  • Add poll_timer_callback
  • Fix format

  * Add polling mode variable for config. ---------Co-authored-by: Vishnuprasad Prachandabhanu <<vishnu.pbhat93@gmail.com>>

  • Enable simplified bus.yml format (#115)
  • Get slave eds and bin in node_canopen_driver
  • Add dictionary to base driver
  • Enable dictionary in proxy drivers
  • Add a few test objects
  • Add pdo checks
  • Adjust 402 driver
  • Fix tests
  • rename to get_xx_queue
  • Add typed sdo operations
  • Remove object datatype where possible
  • Add plain operation mode setting + switchingstate
  • Add robot system interface
  • Add robot system controller
  • Add robot_system_tests
  • Add a bit of documentation
  • Add in code documentation
  • Fix bug
  • Add examples section
  • Fix set_target for interpolated mode
  • Switch to rclcpp::sleep_for
  • Fix initialization for state and command interface variables
  • Add remade robot system interfce
  • Add copyright info
  • Fix missing return statement
  • processing behavior improvement
  • Minor changes to make things work
  • Add poll_timer_callback
  • Fix format
  • Add polling mode variable for config.
  • Add cogen
  • Add example usage for cogen

  * Remove explicit path ---------Co-authored-by: Vishnuprasad Prachandabhanu <<vishnu.pbhat93@gmail.com>> * add dedicated documentation for humble, rolling and iron ---------Co-authored-by: Lovro <<lovro.ivanov@gmail.com>> Co-authored-by: Denis Štogl <<denis@stogl.de>> Co-authored-by: Denis Štogl <<denis@stoglrobotics.de>> Co-authored-by: Dr.-Ing. Denis Štogl <<denis.stogl@stoglrobotics.de>> Co-authored-by: G.A. vd. Hoorn <<g.a.vanderhoorn@tudelft.nl>> Co-authored-by: Błażej Sowa <<bsowa123@gmail.com>> Co-authored-by: James Ward <<james@robomo.co>> Co-authored-by: James Ward <<j.ward@sydney.edu.au>> Co-authored-by: Chris Schindlbeck <<chris.schindlbeck@gmail.com>> Co-authored-by: Vishnuprasad Prachandabhanu <<32260301+ipa-vsp@users.noreply.github.com>> Co-authored-by: Vishnuprasad Prachandabhanu <<vishnu.pbhat93@gmail.com>>

• Contributors: Christoph Hellmann Santos, Vishnuprasad Prachandabhanu, ipa-vsp