From 80da7134644c953436f4bccd58238257dd19b68a Mon Sep 17 00:00:00 2001 From: Naitik Pahwa Date: Mon, 16 Feb 2026 21:20:53 +0530 Subject: [PATCH 1/2] Update admittance_controller & Temporary change to ros2_controllers.rolling.repos Signed-off-by: Naitik Pahwa --- .../test/test_admittance_controller.hpp | 2 +- .../test/test_asset_6d_robot_description.hpp | 311 ------------------ ros2_controllers.rolling.repos | 2 +- 3 files changed, 2 insertions(+), 313 deletions(-) delete mode 100644 admittance_controller/test/test_asset_6d_robot_description.hpp diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp index 19b471738a..90bc1540cd 100644 --- a/admittance_controller/test/test_admittance_controller.hpp +++ b/admittance_controller/test/test_admittance_controller.hpp @@ -41,7 +41,7 @@ #endif #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "semantic_components/force_torque_sensor.hpp" -#include "test_asset_6d_robot_description.hpp" +#include "ros2_control_test_assets/test_asset_6d_robot_description.hpp" #include "tf2_ros/transform_broadcaster.hpp" // TODO(anyone): replace the state and command message types diff --git a/admittance_controller/test/test_asset_6d_robot_description.hpp b/admittance_controller/test/test_asset_6d_robot_description.hpp deleted file mode 100644 index 11412ebbab..0000000000 --- a/admittance_controller/test/test_asset_6d_robot_description.hpp +++ /dev/null @@ -1,311 +0,0 @@ -// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt) -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_ -#define TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_ - -namespace ros2_control_test_assets -{ -const auto valid_6d_robot_urdf = - R"( - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ros2_control_kuka_demo_driver/KukaSystemPositionOnlyHardware - 2.0 - 3.0 - 2.0 - - - - -1 - 1 - - - - - - -1 - 1 - - - - - - -1 - 1 - - - - - - -1 - 1 - - - - - - -1 - 1 - - - - - - -1 - 1 - - - - - -)"; - -const auto valid_6d_robot_srdf = - R"( - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -)"; - -} // namespace ros2_control_test_assets - -#endif // TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_ diff --git a/ros2_controllers.rolling.repos b/ros2_controllers.rolling.repos index 067271620f..602f679f94 100644 --- a/ros2_controllers.rolling.repos +++ b/ros2_controllers.rolling.repos @@ -2,7 +2,7 @@ repositories: ros2_control: type: git url: https://github.com/ros-controls/ros2_control.git - version: master + version: move-6d-robot-450 realtime_tools: type: git url: https://github.com/ros-controls/realtime_tools.git From fc113988c0065620e17d79f78729a753d5fbff7b Mon Sep 17 00:00:00 2001 From: Naitik Pahwa Date: Mon, 16 Feb 2026 22:08:26 +0530 Subject: [PATCH 2/2] Pre-commit Signed-off-by: Naitik Pahwa --- admittance_controller/test/test_admittance_controller.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp index 90bc1540cd..5d7634fd50 100644 --- a/admittance_controller/test/test_admittance_controller.hpp +++ b/admittance_controller/test/test_admittance_controller.hpp @@ -40,8 +40,8 @@ #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 "ros2_control_test_assets/test_asset_6d_robot_description.hpp" +#include "semantic_components/force_torque_sensor.hpp" #include "tf2_ros/transform_broadcaster.hpp" // TODO(anyone): replace the state and command message types