Overview

For detailed information about this package, please see the ros2_control Documentation!

Changelog for package hardware_interface

4.22.0 (2024-12-20)

• Propagate read/write rate to the HardwareInfo properly (#1928)
• Async Hardware Components (#1567)
• Add controller node options args to be able to set controller specific node arguments (#1713)
• Make get_name() return a const reference (#1952)
• Let sensors also export state interfaces of joints (#1885)
• [CI] Add clang job, setup concurrency, use rt_tools humble branch (#1910)
• Contributors: Christoph Fröhlich, Sai Kishor Kothakota, Takashi Sato

4.21.0 (2024-12-06)

• [Feature] Choose different read and write rate for the hardware components (#1570)
• add logic for 'params_file' to handle both string and string_array (#1898)
• [Spawner] Accept parsing multiple [--param-file]{.title-ref} arguments to spawner (#1805)
• Fix missing virtual of on_export_[state|command]_interfaces methods (#1888)
• Refactor: add parse_state_interface_descriptions and parse_command_interface_descriptions to import the components (#1768)
• Contributors: Sai Kishor Kothakota, Takashi Sato

4.20.0 (2024-11-08)

• Add Support for SDF (#1763)
• [HW_IF] Prepare the handles for async operations (#1750)
• Contributors: Aarav Gupta, Sai Kishor Kothakota

4.19.0 (2024-10-26)

• [RM/HW] Constify the exported state interfaces using ConstSharedPtr (#1767)
• Contributors: Sai Kishor Kothakota

4.18.0 (2024-10-07)

• Adapt controller Reference/StateInterfaces to New Way of Exporting (variant support) (#1689)
• Automatic Creation of Handles in HW, Adding Getters/Setters (variant support) (#1688)
• [RM] Execute [error]{.title-ref} callback of component on returning ERROR or with exception (#1730)
• Contributors: Manuel Muth, Sai Kishor Kothakota

4.17.0 (2024-09-11)

• Log exception type when catching the exception (#1749)
• Fix spam of logs on failed hardware component initialization (#1719)
• [HWItfs] Add key-value-storage to the InterfaceInfo (#1421)
• Rename [get_state]{.title-ref} and [set_state]{.title-ref} Functions to [get/set_lifecylce_state]{.title-ref} (variant support) (#1683)
• Contributors: Manuel Muth, Sai Kishor Kothakota

4.16.1 (2024-08-24)

4.16.0 (2024-08-22)

• Use handle_name_ variable instead of allocating for every [get_name]{.title-ref} call (#1706)
• Introduce Creation of Handles with InterfaceDescription (variant support) (#1679)
• Preparation of Handles for Variant Support (#1678)
• [RM] Decouple read/write cycles of each component with mutex to not block other components (#1646)
• Contributors: Manuel Muth, Sai Kishor Kothakota

4.15.0 (2024-08-05)

• [RM] Add [get_hardware_info]{.title-ref} method to the Hardware Components (#1643)
• add missing rclcpp logging include for Humble compatibility build (#1635)
• Contributors: Sai Kishor Kothakota

4.14.0 (2024-07-23)

• Unused header cleanup (#1627)
• [ResourceManager] Make destructor virtual for use in derived classes (#1607)
• Contributors: Henry Moore, Sai Kishor Kothakota

4.13.0 (2024-07-08)

• [ResourceManager] Propagate access to logger and clock interfaces to HardwareComponent (#1585)
• [ControllerChaining] Export state interfaces from chainable controllers (#1021)
• Remove mimic parameter from ros2_control tag (#1553)
• Contributors: Christoph Fröhlich, Sai Kishor Kothakota

4.12.0 (2024-07-01)

• Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (#1451)
• [RM] Rename [load_urdf]{.title-ref} method to [load_and_initialize_components]{.title-ref} and add error handling there to avoid stack crashing when error happens. (#1354)
• Small improvements to the error output in component parser to make debugging easier. (#1580)
• Fix link to gazebosim.org (#1563)
• Add doc page about joint kinematics (#1497)
• Bump version of pre-commit hooks (#1556)
• [Feature] Hardware Components Grouping (#1458)
• Contributors: Christoph Fröhlich, Dr. Denis, Sai Kishor Kothakota, github-actions[bot]

4.11.0 (2024-05-14)

• Add find_package for ament_cmake_gen_version_h (#1534)
• Parse URDF soft_limits into the HardwareInfo structure (#1488)
• Contributors: Christoph Fröhlich, adriaroig

4.10.0 (2024-05-08)

• Add hardware components exception handling in resource manager (#1508)
• Working async controllers and components [not synchronized] (#1041)
• Parse URDF joint hard limits into the HardwareInfo structure (#1472)
• Add fallback controllers list to the ControllerInfo (#1503)
• Add more common hardware interface type constants (#1500)
• Contributors: Márk Szitanics, Sai Kishor Kothakota

4.9.0 (2024-04-30)

• Add missing calculate_dynamics (#1498)
• Component parser: Get mimic information from URDF (#1256)
• Contributors: Christoph Fröhlich

4.8.0 (2024-03-27)

• generate version.h file per package using the ament_generate_version_header (#1449)
• Contributors: Sai Kishor Kothakota

4.7.0 (2024-03-22)

• Codeformat from new pre-commit config (#1433)
• Contributors: Christoph Fröhlich

4.6.0 (2024-03-02)

• Add -Werror=missing-braces to compile options (#1423)
• [CI] Code coverage + pre-commit (#1413)
• Contributors: Christoph Fröhlich, Sai Kishor Kothakota

4.5.0 (2024-02-12)

• Add missing export macros in lexical_casts.hpp (#1382)
• Move hardware interface README content to sphinx documentation (#1342)
• [Doc] Add documentation about initial_value regarding mock_hw (#1352)
• Contributors: Felix Exner (fexner), Mateus Menezes, Silvio Traversaro

4.4.0 (2024-01-31)

• Move [test_components]{.title-ref} to own package (#1325)
• Fix controller parameter loading issue in different cases (#1293)
• Contributors: Christoph Fröhlich, Sai Kishor Kothakota

4.3.0 (2024-01-20)

• [RM] Fix crash for missing urdf in resource manager (#1301)
• Add additional checks for non existing and not available interfaces. (#1218)
• Adding backward compatibility for string-to-double conversion (#1284)
• [Doc] Make interface comments clearer in the doc strings. (#1288)
• Fix return of ERROR and calls of cleanup when system is unconfigured of finalized (#1279)
• fix the multiple definitions of lexical casts methods (#1281)
• [ResourceManager] adds test for uninitialized hardware (#1243)
• Use portable version for string-to-double conversion (#1257)
• Fix typo in docs (#1219)
• Contributors: Christoph Fröhlich, Dr. Denis, Maximilian Schik, Sai Kishor Kothakota, Stephanie Eng, bailaC

4.2.0 (2023-12-12)

4.1.0 (2023-11-30)

• Add few warning compiler options to error (#1181)
• Contributors: Sai Kishor Kothakota

4.0.0 (2023-11-21)

• [MockHardware] Remove all deprecated options and deprecated plugins from the library. (#1150)
• Contributors: Dr. Denis

3.21.0 (2023-11-06)

• [MockHardware] Fix the issues where hardware with multiple interfaces can not be started because of a logical bug added when adding dynamics calculation functionality. (#1151)
• Fix potential deadlock in ResourceManager (#925)
• Contributors: Christopher Wecht, Dr. Denis

3.20.0 (2023-10-31)

• [ResourceManager] deactivate hardware from read/write return value (#884)
• Contributors: Felix Exner (fexner)

3.19.1 (2023-10-04)

3.19.0 (2023-10-03)

• [MockHardware] Added dynamic simulation functionality. (#1028)
• Add GPIO tag description to docs (#1109)
• Contributors: Christoph Fröhlich, Dr. Denis

3.18.0 (2023-08-17)

3.17.0 (2023-08-07)

• Add checks if hardware is initialized. (#1054)
• Contributors: Dr. Denis

3.16.0 (2023-07-09)

3.15.0 (2023-06-23)

• Enable setting of initial state in HW compoments (#1046)
• Ensure instantiation of hardware classes work for python bindings (#1058)
• Contributors: Dr. Denis, Olivier Stasse

3.14.0 (2023-06-14)

• Add -Wconversion flag to protect future developments (#1053)
• [CM] Use [robot_description]{.title-ref} 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

3.13.0 (2023-05-18)

• 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

3.12.2 (2023-04-29)

3.12.1 (2023-04-14)

3.12.0 (2023-04-02)

3.11.0 (2023-03-22)

• Check for missing hardware interfaces that use the gpio tag. (#975)
• Contributors: Ryan Sandzimier

3.10.0 (2023-03-16)

• Split transmission interfaces (#938)
• Contributors: Noel Jiménez García

3.9.1 (2023-03-09)

3.9.0 (2023-02-28)

3.8.0 (2023-02-10)

• Fix CMake install so overriding works (#926)
• Async params (#927)
• Contributors: Márk Szitanics, Tyler Weaver

3.7.0 (2023-01-24)

• Make double parsing locale independent (#921)
• Contributors: Henning Kayser

3.6.0 (2023-01-12)

• 🔧 Fixes and updated on pre-commit hooks and their action (#890)
• Contributors: Denis Štogl

3.5.1 (2023-01-06)

3.5.0 (2022-12-06)

• 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

3.4.0 (2022-11-27)

3.3.0 (2022-11-15)

• [MockHardware] Enalbe initialization non-joint components(#822)
• Contributors: Felix Exner

3.2.0 (2022-10-15)

• [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

3.1.0 (2022-10-05)

• 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

3.0.0 (2022-09-19)

2.15.0 (2022-09-19)

2.14.0 (2022-09-04)

• Add doxygen comments (#777)
• Contributors: Bence Magyar, Denis Štogl

2.13.0 (2022-08-03)

2.12.1 (2022-07-14)

• Fix fake components deprecation and add test for it (#771)
• Contributors: Bence Magyar

2.12.0 (2022-07-09)

• Hardware interface specific update rate and best practices about it (#716)
• Deprecate fake components, long live mock components (#762)
• Contributors: Bence Magyar, Lovro Ivanov

2.11.0 (2022-07-03)

• [Interfaces] Improved `get_name()[ method of hardware interfaces #api-breaking (]{.title-ref}#737 <<https://github.com/ros-controls/ros2_control/issues/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

2.10.0 (2022-06-18)

• 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

2.9.0 (2022-05-19)

• 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

2.8.0 (2022-05-13)

• Pass time and period to read() and write() (#715)
• Contributors: Bence Magyar

2.7.0 (2022-04-29)

• Make URDF available to HW components on initialize (#709)
• Contributors: Bence Magyar

2.6.0 (2022-04-20)

• Error if a hardware name is duplicated (#672)
• Port four bar linkage and differential transmission loaders from ROS1 (#656)
• Contributors: Andy Zelenak, Márk Szitanics

2.5.0 (2022-03-25)

• 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

2.4.0 (2022-02-23)

• Fix transmission loader tests (#642)
• Contributors: Bence Magyar, Denis Štogl

2.3.0 (2022-02-18)

• Add a warning if an initial_value is not found for any interface (#623)
• Contributors: AndyZe

2.2.0 (2022-01-24)

• 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 <<bence.magyar.robotics@gmail.com>>

• Doc 📓: Add detailed explanation about writing new hardware interface. (#615)
• Contributors: Denis Štogl

2.1.0 (2022-01-11)

• Removing 'auto' from function definition to support pre c++ 20 (#608)
• Support of "initial_value" for the 'FakeSystem' (#598)
• Contributors: bailaC, Denis Štogl

2.0.0 (2021-12-29)

• 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 <<destogl@users.noreply.github.com>>
• Extend FakeHardware to support <gpio>-tag (#574)
• Contributors: Michael, bailaC, Denis Štogl

1.2.0 (2021-11-05)

• Import and Initialize components (#566)
• Contributors: Alejandro Hernández Cordero

1.1.0 (2021-10-25)

• Handle errors of hardware that happen on read and write. (#546)
• Contributors: Denis Štogl, Mathias Aarbo

1.0.0 (2021-09-29)

• 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

0.8.0 (2021-08-28)

• 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

0.7.1 (2021-06-15)

• [FakeSystem] Set default command interface to NaN (#424)
• Contributors: Denis Štogl, Bence Magyar

0.7.0 (2021-06-06)

• Add FTS as first semantic components to simplify controllers. (#370)
• Contributors: bailaC, Denis Štogl, Jordan Palacios

0.6.1 (2021-05-31)

0.6.0 (2021-05-23)

• 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

0.5.0 (2021-05-03)

• 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

0.4.0 (2021-04-07)

• [ros2_control_test_assets] Fix typo (#371)
• uint -> size_t, 0u and auto (#346)
• Contributors: Karsten Knese, Yutaka Kondo

0.3.0 (2021-03-21)

• 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

0.2.1 (2021-03-02)

• Remove unused include (#336)
• Contributors: Bence Magyar

0.2.0 (2021-02-26)

• Add "Fake" components for simple integration of framework (#323)
• Contributors: Denis Štogl

0.1.6 (2021-02-05)

• correct hardware interface validation in resource manager. (#317)
• Contributors: Karsten Knese

0.1.5 (2021-02-04)

0.1.4 (2021-02-03)

• 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

0.1.3 (2021-01-21)

0.1.2 (2021-01-06)

0.1.1 (2020-12-23)

0.1.0 (2020-12-22)

• 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