Controller Manager

The controller_manager provides a hard-realtime-compatible loop to control a robot mechanism, as well as infrastructure to load, unload, start and stop controllers.

Detailed user documentation can be found in the package’s ROS wiki page.

Changelog for package controller_manager

0.18.4 (2021-06-16)

• Add wall clock timeout to avoid some deadlock situation when switching mode
• Contributors: krishnachaitanya7

0.18.3 (2020-12-05)

• Update docs in hardware_interface
• Contributors: Franz Pucher

0.18.2 (2020-08-17)

0.18.1 (2020-05-09)

• Add function specifiers and modernize constructors (#430)
  • Add override specifiers & default constructors
  • Delete ControllerBase copy & move ctors
  • Remove unnecessary default constructors
  • Modernize additional constructors
  • Revert ImuSensorHandle::<Data::Data>() = default
  • Remove unnecessary default overridden constructors
  • Remove semicolon after function body
• Contributors: Matt Reynolds

0.18.0 (2020-04-16)

• enable spawner to wait indefinitely if requested (#428) [rospy.wait_for_service]{.title-ref} does not allow for [0]{.title-ref} to wait indefinitely. Instead, [None]{.title-ref} has to be passed explicitly. By personal request of three maintainers extended to include documentation and the alternative argument --no-timeout.
• Bump CMake version to avoid CMP0048 (#427)
• Contributors: Michael Görner, Shane Loretz

0.17.0 (2020-02-24)

• Use auto keyword
• Use default member initializers
• Replace boost with std
• Replace boost mutexes & locks with std
• Replace boost::bind with std::bind
• Contributors: AbhinavSingh, Bence Magyar, Matt Reynolds, suab321321

0.16.0 (2020-01-27)

• Use range-based for loops in controller_manager
• Resolve Boost dependency issues
• Update dependencies
  • Dependencies needed to compile are <build_depend>
  • Dependencies used in public headers are <build_export_depend>
  • Dependencies needed to link or run are <exec_depend>
• Merge branch 'melodic-devel' into catkin-lint
• Add ${catkin_EXPORTED_TARGETS} dependencies
• Update package dependencies
• Add missing roscpp & rospy dependencies
• Prefer nullptr for null pointers
• Replace header guard with #pragma once
• Apply consistent style to CMakeLists.txt files
• Apply consistent style to package.xml files
• Fix build error in clang error: non-aggregate type 'std::vector' (aka 'vector >') cannot be initialized with an initializer list
• Multi-update cycle mode switch (#391) For more info: https://github.com/pal-robotics-forks/ros_control2/pull/5
  • Added tests for ControllerManager update
  • Mocks for controllers and controller loader in update test
  • Divided in tests with and without controllers
  • Controller state initialized in mock
  • Moved mocks to test class
  • All tests using mock class
  • Test for multiple updates in a single controller

  * Added new switchResult() function to RobotHW interface ControllerManager uses this function to wait for the result of the doSwitch() before starting the new set of controllers

  • Using ranged based loops
  • Switch is now managed in a separate function
  • Option to start controllers as soon as their joints are ready after a switch
  • Tests for controller_interface API
  • Added new STOPPED, WAITING and ABORTED states to ControllerBase
  • Split manageSwitch() into smaller functions
  • Abort pending controllers in case of switch error

  * Changed default behaviour of new switch param This way if it not set it will be the same behaviour as previous version

  • Added timeout parameter to switch controller
  • Removed unnecessary includes
  • Using target_include_directories for the test
  • std::all_of instead of std::count_if
  • Deleted autogenerated file
  • Adapted tests to changes in controller_manager

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