Robotic-Decision-Making-Lab · mergify · Jun 7, 2025
diff --git a/auv_control_demos/CHANGELOG.md b/auv_control_demos/CHANGELOG.md
@@ -0,0 +1,16 @@
+# Changelog for package auv_control_demos
+
+## 0.3.0 (2025-06-07)
+
+## 0.2.1 (2025-06-03)
+
+- Updates the individual_controller and chained_controllers demos to use the
+current `hydrodynamics` API and the new adaptive integral terminal sliding mode
+controller.
+
+## 0.2.0 (2025-05-03)
+
+## 0.1.0 (2025-04-27)
+
+- Updates the individual_controller and chained_controllers demos to use the
+correct topic names
diff --git a/auv_control_demos/package.xml b/auv_control_demos/package.xml
@@ -2,9 +2,14 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>auv_control_demos</name>
+<<<<<<< HEAD
   <version>0.0.1</version>
   <description>Example package that includes demos for using auv_controllers in individual and
     chained modes</description>
+=======
+  <version>0.3.0</version>
+  <description>Example package that includes demos for using auv_controllers in individual and chained modes</description>
+>>>>>>> 289f6e0 (Implemented a controller coordinator (#63))
 
   <maintainer email="mitchcol@oregonstate.edu">Colin Mitchell</maintainer>
   <maintainer email="everardo.a.gonzalez@gmail.com">Everardo Gonzalez</maintainer>

diff --git a/auv_control_msgs/CHANGELOG.md b/auv_control_msgs/CHANGELOG.md
@@ -0,0 +1,17 @@
+# Changelog for package auv_control_msgs
+
+## 0.3.0 (2025-06-07)
+
+## 0.2.1 (2025-06-03)
+
+## 0.2.0 (2025-05-03)
+
+- Implements the EndEffectorTrajectory message
+- Implements the EndEffectorTrajectoryPoint message
+- Implements the EndEffectorTrajectoryControllerState message
+- Adds the FollowEndEffectorTrajectory action
+
+## 0.1.0 (2025-04-27)
+
+- Implements the IKControllerStateStamped message to support the new IK
+controller
diff --git a/auv_control_msgs/package.xml b/auv_control_msgs/package.xml
@@ -1,8 +1,13 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
+
   <name>auv_control_msgs</name>
+<<<<<<< HEAD
   <version>0.0.1</version>
+=======
+  <version>0.3.0</version>
+>>>>>>> 289f6e0 (Implemented a controller coordinator (#63))
   <description>Custom messages for AUV controllers</description>
 
   <maintainer email="rakeshvivek97@gmail.com">Rakesh Vivekanandan</maintainer>

diff --git a/auv_controllers/CHANGELOG.md b/auv_controllers/CHANGELOG.md
@@ -0,0 +1,23 @@
+# Changelog for package auv_controllers
+
+## 0.3.0 (2025-06-07)
+
+- Implements the controller coordinator
+
+## 0.2.1 (2025-06-03)
+
+- Fixes the auv_control_demos configurations
+
+## 0.2.0 (2025-05-03)
+
+- Adds the end effector trajectory controller
+
+## 0.1.0 (2025-04-27)
+
+- Adds the adaptive integral terminal sliding mode controller
+- Adds the task priority IK solver
+- Adds the IK whole-body controller
+- Adds the odom topic sensor
+- Adds the controller_common package
+- Adds the Gazebo passthrough thruster controller
+- Adds the thruster rotation rate controller
diff --git a/auv_controllers/package.xml b/auv_controllers/package.xml
@@ -3,7 +3,11 @@
 <package format="3">
 
   <name>auv_controllers</name>
+<<<<<<< HEAD
   <version>0.0.1</version>
+=======
+  <version>0.3.0</version>
+>>>>>>> 289f6e0 (Implemented a controller coordinator (#63))
   <description>Meta package for auv_controllers</description>
 
   <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

diff --git a/controller_common/CHANGELOG.md b/controller_common/CHANGELOG.md
@@ -0,0 +1,13 @@
+# Changelog for package controller_common
+
+## 0.3.0 (2025-06-07)
+
+## 0.2.1 (2025-06-03)
+
+## 0.2.0 (2025-05-03)
+
+- Adds the common::math::isclose method for comparing doubles
+
+## 0.1.0 (2025-04-27)
+
+- Ports reset message functions and error calculation to a common API
diff --git a/controller_common/package.xml b/controller_common/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>controller_common</name>
+  <version>0.3.0</version>
+  <description>Common interfaces for controllers used in this project</description>
+
+  <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>
+  <license>MIT</license>
+
+  <url type="repository">https://github.com/Robotic-Decision-Making-Lab/auv_controllers.git</url>
+  <url type="bugtracker">https://github.com/Robotic-Decision-Making-Lab/auv_controllers/issues</url>
+
+  <author>Evan Palmer</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/controller_coordinator/CHANGELOG.md b/controller_coordinator/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog for package controller_coordinator
+
+## 0.3.0 (2025-06-07)
+
+- Implements a simple service endpoint for activating and deactivating a
+  control system.
diff --git a/controller_coordinator/CMakeLists.txt b/controller_coordinator/CMakeLists.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.23)
+project(controller_coordinator)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+include(GNUInstallDirs)
+
+find_package(rclcpp REQUIRED)
+find_package(controller_manager_msgs REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(generate_parameter_library REQUIRED)
+find_package(std_srvs REQUIRED)
+
+generate_parameter_library(controller_coordinator_parameters src/coordinator_parameters.yaml)
+
+add_executable(controller_coordinator)
+target_sources(controller_coordinator PRIVATE src/coordinator.cpp)
+
+target_compile_features(controller_coordinator PUBLIC cxx_std_20)
+target_link_libraries(
+    controller_coordinator
+    PUBLIC
+        controller_coordinator_parameters
+        rclcpp::rclcpp
+        ${controller_manager_msgs_TARGETS}
+        ${std_srvs_TARGETS}
+)
+
+install(
+    TARGETS
+        controller_coordinator
+        controller_coordinator_parameters
+        DESTINATION
+        lib/controller_coordinator
+)
+
+ament_package()
diff --git a/controller_coordinator/LICENSE b/controller_coordinator/LICENSE
@@ -0,0 +1,17 @@
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
diff --git a/controller_coordinator/README.md b/controller_coordinator/README.md
@@ -0,0 +1,15 @@
+# Controller Coordinator
+
+The controller coordinator is a high-level interface for activating and
+deactivating a control system. This is useful in scenarios where you want to
+switch between a custom control framework and a company-provided control
+framework.
+
+## Clients
+
+- controller_manager/set_hardware_component_state [controller_manager_msgs::srv::SetHardwareComponentState]
+- controller_manager/switch_controller [controller_manager_msgs::srv::SwitchController]
+
+## Services
+
+- controller_coordinator/activate [std_srvs/srv/SetBool]
diff --git a/controller_coordinator/package.xml b/controller_coordinator/package.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>controller_coordinator</name>
+  <version>0.3.0</version>
+  <description>A high-level node used to load and activate/deactivate control systems</description>
+
+  <maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>
+  <license>MIT</license>
+
+  <url type="repository">https://github.com/Robotic-Decision-Making-Lab/auv_controllers.git</url>
+  <url type="bugtracker">https://github.com/Robotic-Decision-Making-Lab/auv_controllers/issues</url>
+
+  <author>Evan Palmer</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_srvs</depend>
+  <depend>controller_manager_msgs</depend>
+  <depend>generate_parameter_library</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>