CHANGELOG

Changelog for package hardware_interface

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 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 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 (#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