Merge branch 'master' into fix/overruns

Author: Svastits

kuka_drivers_core/src/control_node.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <sys/mman.h>
+
 #include <memory>
 #include <thread>
 
-#include <sys/mman.h>
-
 #include "controller_manager/controller_manager.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/bool.hpp"

kuka_iiqka_eac_driver/test/test_driver_activation.py

@@ -43,7 +43,7 @@ def generate_test_description():
                 ),
             ),
             launch.actions.TimerAction(
-                period=10.0,
+                period=20.0,
                 actions=[
                     launch.actions.ExecuteProcess(
                         cmd=["ros2", "lifecycle", "set", "robot_manager", "configure"],
@@ -52,7 +52,7 @@ def generate_test_description():
                 ],
             ),
             launch.actions.TimerAction(
-                period=15.0,
+                period=25.0,
                 actions=[
                     launch.actions.ExecuteProcess(
                         cmd=["ros2", "lifecycle", "set", "robot_manager", "activate"],
@@ -78,6 +78,6 @@ def test_read_stdout(self, proc_output):
         )
         # Check for successful configuration and activation
         proc_output.assertWaitFor(
-            "Successful 'configure' of hardware 'lbr_iisy3_r760'", timeout=15
+            "Successful 'configure' of hardware 'lbr_iisy3_r760'", timeout=25
         )
-        proc_output.assertWaitFor("Successful 'activate' of hardware 'lbr_iisy3_r760'", timeout=20)
+        proc_output.assertWaitFor("Successful 'activate' of hardware 'lbr_iisy3_r760'", timeout=30)

kuka_rsi_driver/src/robot_manager_base.cpp

@@ -81,11 +81,11 @@ RobotManagerBase::RobotManagerBase() : kuka_drivers_core::ROS2BaseLCNode("robot_
 
   // Publisher for sending cycle_time to KssMessageHandler
   cycle_time_pub_ = this->create_publisher<std_msgs::msg::UInt8>(
-    "~/kss_message_handler/cycle_time", rclcpp::SystemDefaultsQoS());
+    "kss_message_handler/cycle_time", rclcpp::SystemDefaultsQoS());
 
   // Use the provided value to initialize the member (prevents unused-parameter warning)
   this->registerParameter<int>(
-    "cycle_time", 1, kuka_drivers_core::ParameterSetAccessRights{true, true},
+    "cycle_time", 1, kuka_drivers_core::ParameterSetAccessRights{true, false},
     [this](int cycle_time)
     {
       // Set default cycle time (from parameter)
@@ -303,8 +303,9 @@ bool RobotManagerBase::ChangeCycleTime(CycleTime cycle_time)
   if (cycle_time != CycleTime::RSI_4MS && cycle_time != CycleTime::RSI_12MS)
   {
     RCLCPP_ERROR(
-      get_logger(), "Invalid cycle time requested: %d. Valid options are %s and %s.", cycle_time,
-      CycleTimeToString(CycleTime::RSI_4MS), CycleTimeToString(CycleTime::RSI_12MS));
+      get_logger(), "Invalid cycle time requested: %d. Valid options are %s and %s.",
+      static_cast<int>(cycle_time), CycleTimeToString(CycleTime::RSI_4MS),
+      CycleTimeToString(CycleTime::RSI_12MS));
     return false;
   }
 

kuka_rsi_driver/test/test_driver_activation.py

@@ -54,7 +54,7 @@ def generate_test_description():
                 )
             ),
             launch.actions.TimerAction(
-                period=10.0,
+                period=20.0,
                 actions=[
                     launch.actions.ExecuteProcess(
                         cmd=["ros2", "lifecycle", "set", "robot_manager", "configure"],
@@ -63,7 +63,7 @@ def generate_test_description():
                 ],
             ),
             launch.actions.TimerAction(
-                period=15.0,
+                period=25.0,
                 actions=[
                     launch.actions.ExecuteProcess(
                         cmd=["ros2", "lifecycle", "set", "robot_manager", "activate"],
@@ -88,5 +88,5 @@ def test_read_stdout(self, proc_output):
             "Setting component 'kr6_r700_sixx' to 'unconfigured' state.", timeout=5
         )
         # Check for successful configuration and activation
-        proc_output.assertWaitFor("Successful 'configure' of hardware 'kr6_r700_sixx'", timeout=15)
-        proc_output.assertWaitFor("Successful 'activate' of hardware 'kr6_r700_sixx'", timeout=20)
+        proc_output.assertWaitFor("Successful 'configure' of hardware 'kr6_r700_sixx'", timeout=25)
+        proc_output.assertWaitFor("Successful 'activate' of hardware 'kr6_r700_sixx'", timeout=30)

kuka_sunrise_fri_driver/test/test_driver_activation.py

@@ -46,7 +46,7 @@ def generate_test_description():
                 }.items(),
             ),
             launch.actions.TimerAction(
-                period=15.0,
+                period=20.0,
                 actions=[
                     launch.actions.ExecuteProcess(
                         cmd=["ros2", "lifecycle", "set", "robot_manager", "configure"],
@@ -55,7 +55,7 @@ def generate_test_description():
                 ],
             ),
             launch.actions.TimerAction(
-                period=20.0,
+                period=25.0,
                 actions=[
                     launch.actions.ExecuteProcess(
                         cmd=["ros2", "lifecycle", "set", "robot_manager", "activate"],