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Merged
merged 27 commits into from
Jun 25, 2025
Merged

Update realtime containers #1721

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af2a111
Apply changes to mecanum_drive_controller
christophfroehlich May 30, 2025
ecfa228
Use msg instead of shared_ptr in box
christophfroehlich May 31, 2025
22f6def
meanum: keep copy of ref
christophfroehlich Jun 2, 2025
fb6b041
diff_drive: Use ThreadSafeBox
christophfroehlich Jun 3, 2025
53de150
forward_command: Use ThreadSafeBox
christophfroehlich Jun 3, 2025
73ec7bb
pid: Use ThreadSafeBox and std::atomic
christophfroehlich Jun 3, 2025
36526a9
gpio: Use ThreadSafeBox
christophfroehlich Jun 3, 2025
478c9ca
parallelgripper: Use ThreadSafeBox
christophfroehlich Jun 3, 2025
59e334f
admittance: Use ThreadSafeBox
christophfroehlich Jun 3, 2025
0d28d35
Update rt box of steering_controller_library
christophfroehlich Jun 2, 2025
b6b617a
steering: save last_ref_
christophfroehlich Jun 3, 2025
13c0f76
Fix steering controllers tests
christophfroehlich Jun 3, 2025
244c044
mecanum: preallocate
christophfroehlich Jun 3, 2025
e971270
diffdrive: preallocate
christophfroehlich Jun 3, 2025
3cb97e0
forward: preallocate
christophfroehlich Jun 3, 2025
ea6379c
pid: preallocate
christophfroehlich Jun 3, 2025
398971f
Cleanup
christophfroehlich Jun 3, 2025
aae8f00
gpio: preallocate
christophfroehlich Jun 3, 2025
e41aafe
steering: fix tests
christophfroehlich Jun 3, 2025
ba875d3
steering: preallocate
christophfroehlich Jun 3, 2025
8b4e0d1
steering: Remove debug output
christophfroehlich Jun 3, 2025
da058ca
Fix the forward controller specializations
christophfroehlich Jun 4, 2025
8b13d34
Merge branch 'master' into update/rt
christophfroehlich Jun 5, 2025
c78e8ee
Merge branch 'master' into update/rt
christophfroehlich Jun 7, 2025
c8703cf
Merge branch 'master' into update/rt
christophfroehlich Jun 11, 2025
db732ad
Merge branch 'master' into update/rt
christophfroehlich Jun 24, 2025
1747c95
Merge branch 'master' into update/rt
christophfroehlich Jun 25, 2025
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Fix the forward controller specializations
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@christophfroehlich
christophfroehlich committed Jun 4, 2025
commit da058ca958454f7ecc1f30935e2dcb4e8477b822
12 changes: 6 additions & 6 deletions effort_controllers/test/test_joint_group_effort_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,9 +111,9 @@ TEST_F(JointGroupEffortControllerTest, CommandSuccessTest)
ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);

// send command
auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
command_ptr->data = {10.0, 20.0, 30.0};
controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
forward_command_controller::CmdType command;
command.data = {10.0, 20.0, 30.0};
controller_->rt_command_.set(command);

// update successful, command received
ASSERT_EQ(
Expand All @@ -133,9 +133,9 @@ TEST_F(JointGroupEffortControllerTest, WrongCommandCheckTest)
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

// send command with wrong number of joints
auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
command_ptr->data = {10.0, 20.0};
controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
forward_command_controller::CmdType command;
command.data = {10.0, 20.0};
controller_->rt_command_.set(command);

// update failed, command size does not match number of joints
ASSERT_EQ(
Expand Down
12 changes: 6 additions & 6 deletions position_controllers/test/test_joint_group_position_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,9 +111,9 @@ TEST_F(JointGroupPositionControllerTest, CommandSuccessTest)
ASSERT_EQ(joint_3_pos_cmd_.get_value(), 3.1);

// send command
auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
command_ptr->data = {10.0, 20.0, 30.0};
controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
forward_command_controller::CmdType command;
command.data = {10.0, 20.0, 30.0};
controller_->rt_command_.set(command);

// update successful, command received
ASSERT_EQ(
Expand All @@ -133,9 +133,9 @@ TEST_F(JointGroupPositionControllerTest, WrongCommandCheckTest)
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

// send command with wrong number of joints
auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
command_ptr->data = {10.0, 20.0};
controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
forward_command_controller::CmdType command;
command.data = {10.0, 20.0};
controller_->rt_command_.set(command);

// update failed, command size does not match number of joints
ASSERT_EQ(
Expand Down
12 changes: 6 additions & 6 deletions velocity_controllers/test/test_joint_group_velocity_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,9 +111,9 @@ TEST_F(JointGroupVelocityControllerTest, CommandSuccessTest)
ASSERT_EQ(joint_3_cmd_.get_value(), 3.1);

// send command
auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
command_ptr->data = {10.0, 20.0, 30.0};
controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
forward_command_controller::CmdType command;
command.data = {10.0, 20.0, 30.0};
controller_->rt_command_.set(command);

// update successful, command received
ASSERT_EQ(
Expand All @@ -133,9 +133,9 @@ TEST_F(JointGroupVelocityControllerTest, WrongCommandCheckTest)
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

// send command with wrong number of joints
auto command_ptr = std::make_shared<forward_command_controller::CmdType>();
command_ptr->data = {10.0, 20.0};
controller_->rt_command_ptr_.writeFromNonRT(command_ptr);
forward_command_controller::CmdType command;
command.data = {10.0, 20.0};
controller_->rt_command_.set(command);

// update failed, command size does not match number of joints
ASSERT_EQ(
Expand Down
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