Merge pull request #450 from husarion/2.1.2-20241125

Release 2.1.2 to ros2
husarion · Dec 2, 2024 · ad89d1e · ad89d1e
2 parents 3a68979 + c90ca83
commit ad89d1e
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diff --git a/.github/workflows/release-candidate.yaml b/.github/workflows/release-candidate.yaml
@@ -79,6 +79,7 @@ jobs:
           wait_interval: 10
           client_payload: |
             {
+              "panther_codebase_version": "${{ env.RC_BRANCH_NAME }}",
               "build_type": "development",
               "target_distro": "humble"
             }

diff --git a/.github/workflows/release-project.yaml b/.github/workflows/release-project.yaml
@@ -93,6 +93,7 @@ jobs:
           wait_interval: 10
           client_payload: |
             {
+              "panther_codebase_version": "${{ github.event.inputs.version }}",
               "build_type": "development",
               "target_distro": "humble"
             }

diff --git a/panther/CHANGELOG.rst b/panther/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package panther
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-12-02)
+------------------
+* Merge branch 'ros2-devel' into ros2-lights-tests
+* Contributors: pawelirh
+
 2.1.1 (2024-09-05)
 ------------------
 * Merge branch 'ros2-devel' into ros2-ns-refactor

diff --git a/panther/package.xml b/panther/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>panther</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Meta package that contains all packages of Panther</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_battery/CHANGELOG.rst b/panther_battery/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package panther_battery
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-12-02)
+------------------
+* Merge branch 'ros2-devel' into ros2-lights-tests
+* Contributors: pawelirh
+
 2.1.1 (2024-09-05)
 ------------------
 * LEDStrip plugin to Gazebo (`#391 <https://github.com/husarion/panther_ros/issues/391>`_)

diff --git a/panther_battery/package.xml b/panther_battery/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>panther_battery</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Nodes monitoring the battery state of Husarion Panhter robot</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_bringup/CHANGELOG.rst b/panther_bringup/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package panther_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-12-02)
+------------------
+* Merge branch 'ros2-devel' into ros2-lights-tests
+* Contributors: pawelirh
+
 2.1.1 (2024-09-05)
 ------------------
 * Merge branch 'ros2-devel' into ros2-ns-refactor

diff --git a/panther_bringup/package.xml b/panther_bringup/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>panther_bringup</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Default launch files and configuration used to start Husarion Panther robot</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_controller/CHANGELOG.rst b/panther_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package panther_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-12-02)
+------------------
+* Merge branch 'ros2-devel' into ros2-lights-tests
+* Contributors: pawelirh
+
 2.1.1 (2024-09-05)
 ------------------
 * Merge pull request `#403 <https://github.com/husarion/panther_ros/issues/403>`_ from husarion/ros2-control-ns-fix

diff --git a/panther_controller/package.xml b/panther_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>panther_controller</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>ros2 controllers configuration for Panther</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_description/CHANGELOG.rst b/panther_description/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package panther_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-12-02)
+------------------
+* Merge branch 'ros2-devel' into ros2-lights-tests
+* Contributors: pawelirh
+
 2.1.1 (2024-09-05)
 ------------------
 * LEDStrip plugin to Gazebo (`#391 <https://github.com/husarion/panther_ros/issues/391>`_)

diff --git a/panther_description/package.xml b/panther_description/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>panther_description</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>The panther_description package</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_diagnostics/CHANGELOG.rst b/panther_diagnostics/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package panther_diagnostics
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-12-02)
+------------------
+* Merge pull request `#408 <https://github.com/husarion/panther_ros/issues/408>`_ from husarion/ros2-lights-integration-tests
+* Change License in system monitor integration test
+* Merge branch 'ros2-devel' into ros2-lights-tests
+* Contributors: Dawid Kmak, pawelirh
+
 2.1.1 (2024-09-05)
 ------------------
 * Merge branch 'ros2-devel' into ros2-ns-refactor

diff --git a/panther_diagnostics/package.xml b/panther_diagnostics/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>panther_diagnostics</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Package for diagnosting usage of OS on the Panther Robot</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_diagnostics/test/integration/system_monitor_node.test.py b/panther_diagnostics/test/integration/system_monitor_node.test.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2022 TIER IV, Inc.
+# Copyright 2024 Husarion sp. z o.o.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

diff --git a/panther_gazebo/CHANGELOG.rst b/panther_gazebo/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package panther_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-12-02)
+------------------
+* Merge branch 'ros2-devel' into ros2-lights-tests
+* Contributors: pawelirh
+
 2.1.1 (2024-09-05)
 ------------------
 * LEDStrip plugin to Gazebo (`#391 <https://github.com/husarion/panther_ros/issues/391>`_)

diff --git a/panther_gazebo/package.xml b/panther_gazebo/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>panther_gazebo</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>The panther_description package</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_hardware_interfaces/CHANGELOG.rst b/panther_hardware_interfaces/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package panther_hardware_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-12-02)
+------------------
+* Ros2 fix led bug (`#441 <https://github.com/husarion/panther_ros/issues/441>`_)
+* Merge branch 'ros2-devel' into ros2-lights-tests
+* Contributors: Dawid Kmak, pawelirh
+
 2.1.1 (2024-09-05)
 ------------------
 * Merge branch 'ros2-devel' into ros2-ns-refactor

diff --git a/...rdware_interfaces/include/panther_hardware_interfaces/panther_system/gpio/gpio_driver.hpp b/...rdware_interfaces/include/panther_hardware_interfaces/panther_system/gpio/gpio_driver.hpp
@@ -189,13 +189,17 @@ class GPIODriver
    *
    * @param pin GPIOPin to set the value for.
    * @param value The boolean value to set for the pin.
+   * @param pin_validation_wait_time The time duration to wait for the pin value to change before
+   * checking if change was successful.
    *
    * @throws std::invalid_argument if trying to set the value for an INPUT pin.
    * @throws std::runtime_error if changing the GPIO state fails.
    *
    * @return true if the pin value is successfully set, false otherwise.
    */
-  bool SetPinValue(const GPIOPin pin, const bool value);
+  bool SetPinValue(
+    const GPIOPin pin, const bool value,
+    const std::chrono::milliseconds & pin_validation_wait_time = std::chrono::milliseconds(0));
 
 private:
   std::unique_ptr<gpiod::line_request> CreateLineRequest(gpiod::chip & chip);

diff --git a/panther_hardware_interfaces/package.xml b/panther_hardware_interfaces/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>panther_hardware_interfaces</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Hardware controller for Panther</description>
   <maintainer email="[email protected]">Husarion</maintainer>
   <license>Apache License 2.0</license>

diff --git a/panther_hardware_interfaces/src/panther_system/gpio/gpio_controller.cpp b/panther_hardware_interfaces/src/panther_system/gpio/gpio_controller.cpp
@@ -177,7 +177,9 @@ bool GPIOControllerPTH12X::ChargerEnable(const bool enable)
 
 bool GPIOControllerPTH12X::LEDControlEnable(const bool enable)
 {
-  return gpio_driver_->SetPinValue(GPIOPin::LED_SBC_SEL, enable);
+  // pin_validation_wait_time=10ms used due to slow pin state transition
+  // on pin loaded by high 100nF capacity in SBC Overlay v1.4
+  return gpio_driver_->SetPinValue(GPIOPin::LED_SBC_SEL, enable, std::chrono::milliseconds(10));
 }
 
 std::unordered_map<GPIOPin, bool> GPIOControllerPTH12X::QueryControlInterfaceIOStates() const

diff --git a/panther_hardware_interfaces/src/panther_system/gpio/gpio_driver.cpp b/panther_hardware_interfaces/src/panther_system/gpio/gpio_driver.cpp
@@ -164,7 +164,8 @@ bool GPIODriver::IsPinActive(const GPIOPin pin)
   return pin_info.value == gpiod::line::value::ACTIVE;
 }
 
-bool GPIODriver::SetPinValue(const GPIOPin pin, const bool value)
+bool GPIODriver::SetPinValue(
+  const GPIOPin pin, const bool value, const std::chrono::milliseconds & pin_validation_wait_time)
 {
   GPIOInfo & gpio_info = GetGPIOInfoRef(pin);
 
@@ -174,10 +175,17 @@ bool GPIODriver::SetPinValue(const GPIOPin pin, const bool value)
 
   gpiod::line::value gpio_value = value ? gpiod::line::value::ACTIVE : gpiod::line::value::INACTIVE;
 
-  std::lock_guard lock(gpio_info_storage_mutex_);
+  std::unique_lock lock(gpio_info_storage_mutex_);
+
   try {
     line_request_->set_value(gpio_info.offset, gpio_value);
 
+    if (pin_validation_wait_time.count() > 0) {
+      lock.unlock();
+      std::this_thread::sleep_for(pin_validation_wait_time);
+      lock.lock();
+    }
+
     if (line_request_->get_value(gpio_info.offset) != gpio_value) {
       throw std::runtime_error("Failed to change GPIO state.");
     }

diff --git a/panther_lights/CHANGELOG.rst b/panther_lights/CHANGELOG.rst
@@ -2,6 +2,25 @@
 Changelog for package panther_lights
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-12-02)
+------------------
+* Merge pull request `#408 <https://github.com/husarion/panther_ros/issues/408>`_ from husarion/ros2-lights-integration-tests
+* Avoid pre-commit complains
+* Add subscription verification
+* Add underscore prefix to private members
+* Rename test fixture
+* Merge branch 'ros2-devel' into ros2-lights-integration-tests
+* Merge pull request `#407 <https://github.com/husarion/panther_ros/issues/407>`_ from husarion/ros2-lights-tests
+* Address review suggestions
+* Fix comments
+* Implement panther_lights integration tests
+* Merge branch 'ros2-devel' into ros2-lights-tests
+* Make lights controller tests lightweight
+* Implement tests for lights driver
+* Test apa102
+* Implement APA102Interface remove spatial namespace
+* Contributors: Dawid Kmak, pawelirh
+
 2.1.1 (2024-09-05)
 ------------------
 * Merge branch 'ros2-devel' into ros2-ns-refactor