Merge branch 'master' into add-vda5050-safety-state-broadcaster

Author: christophfroehlich

.pre-commit-config.yaml

@@ -38,7 +38,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.20.0
+    rev: v3.21.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -138,7 +138,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.34.0
+    rev: 0.34.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

ackermann_steering_controller/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2025-11-10)
+------------------
+* Controller interface api update to ros2_controller packages (`#1973 <https://github.com/ros-controls/ros2_controllers/issues/1973>`_)
+* Contributors: Anand Vardhan
+
 5.8.0 (2025-10-02)
 ------------------
 * Remove deprecated methods from ros2_control (`#1936 <https://github.com/ros-controls/ros2_controllers/issues/1936>`_)

ackermann_steering_controller/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ackermann_steering_controller</name>
-  <version>5.8.0</version>
+  <version>6.0.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -133,9 +133,13 @@ class AckermannSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_ackermann_steering_controller")
   {
-    ASSERT_EQ(
-      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
-      controller_interface::return_type::OK);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = "";
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = controller_->define_custom_node_options();
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

admittance_controller/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2025-11-10)
+------------------
+* Use NodeInterfaces for TransformBroadcaster construction (`#1981 <https://github.com/ros-controls/ros2_controllers/issues/1981>`_)
+* Controller interface api update to ros2_controller packages (`#1973 <https://github.com/ros-controls/ros2_controllers/issues/1973>`_)
+* Contributors: Anand Vardhan, Christoph Fröhlich
+
 5.8.0 (2025-10-02)
 ------------------
 * Update API for realtime publisher (`#1830 <https://github.com/ros-controls/ros2_controllers/issues/1830>`_)

admittance_controller/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>admittance_controller</name>
-  <version>5.8.0</version>
+  <version>6.0.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

admittance_controller/test/test_admittance_controller.hpp

@@ -35,6 +35,10 @@
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "rclcpp/parameter_value.hpp"
+#include "rclcpp/version.h"
+#if RCLCPP_VERSION_GTE(18, 0, 0)
+#include "rclcpp/node_interfaces/node_interfaces.hpp"
+#endif
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
 #include "test_asset_6d_robot_description.hpp"
@@ -160,8 +164,13 @@ class AdmittanceControllerTest : public ::testing::Test
   controller_interface::return_type SetUpControllerCommon(
     const std::string & controller_name, const rclcpp::NodeOptions & options)
   {
-    auto result =
-      controller_->init(controller_name, controller_->robot_description_, 0, "", options);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = controller_->robot_description_;
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = options;
+    auto result = controller_->init(params);
 
     controller_->export_reference_interfaces();
     assign_interfaces();
@@ -215,7 +224,15 @@ class AdmittanceControllerTest : public ::testing::Test
 
   void broadcast_tfs()
   {
+#if RCLCPP_VERSION_GTE(18, 0, 0)
+    static tf2_ros::TransformBroadcaster br(
+      rclcpp::node_interfaces::NodeInterfaces(
+        test_broadcaster_node_->get_node_parameters_interface(),
+        test_broadcaster_node_->get_node_topics_interface()));
+#else
     static tf2_ros::TransformBroadcaster br(test_broadcaster_node_);
+#endif
+
     geometry_msgs::msg::TransformStamped transform_stamped;
 
     transform_stamped.header.stamp = test_broadcaster_node_->now();

bicycle_steering_controller/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+6.0.0 (2025-11-10)
+------------------
+* Controller interface api update to ros2_controller packages (`#1973 <https://github.com/ros-controls/ros2_controllers/issues/1973>`_)
+* Contributors: Anand Vardhan
+
 5.8.0 (2025-10-02)
 ------------------
 * Remove deprecated methods from ros2_control (`#1936 <https://github.com/ros-controls/ros2_controllers/issues/1936>`_)

bicycle_steering_controller/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bicycle_steering_controller</name>
-  <version>5.8.0</version>
+  <version>6.0.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>

bicycle_steering_controller/test/test_bicycle_steering_controller.hpp

@@ -131,9 +131,13 @@ class BicycleSteeringControllerFixture : public ::testing::Test
 protected:
   void SetUpController(const std::string controller_name = "test_bicycle_steering_controller")
   {
-    ASSERT_EQ(
-      controller_->init(controller_name, "", 0, "", controller_->define_custom_node_options()),
-      controller_interface::return_type::OK);
+    controller_interface::ControllerInterfaceParams params;
+    params.controller_name = controller_name;
+    params.robot_description = "";
+    params.update_rate = 0;
+    params.node_namespace = "";
+    params.node_options = controller_->define_custom_node_options();
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {