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Add magnetic_field_sensor semantic component #2627

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Merged
merged 9 commits into from
Oct 9, 2025
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Merged

Add magnetic_field_sensor semantic component #2627

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b16e811
Add magnetic_field_sensor semantic component
Amronos Oct 7, 2025
cab54b5
Apply changes from code review
Amronos Oct 8, 2025
5f2c453
Merge branch 'master' into add-magnetic_field_sensor
Amronos Oct 8, 2025
8d8718a
Apply changes from code review
Amronos Oct 8, 2025
c3e1d57
Add test to CMakeLists.txt
Amronos Oct 9, 2025
f733df7
Merge branch 'master' into add-magnetic_field_sensor
Amronos Oct 9, 2025
027b9ac
Merge branch 'master' into add-magnetic_field_sensor
Amronos Oct 9, 2025
c356023
Update documentation
Amronos Oct 9, 2025
2a915ae
Update doc/release_notes.rst
christophfroehlich Oct 9, 2025
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7 changes: 7 additions & 0 deletions controller_interface/CMakeLists.txt
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Expand Up @@ -79,6 +79,13 @@ if(BUILD_TESTING)
${sensor_msgs_TARGETS}
)

ament_add_gmock(test_magnetic_field_sensor test/test_magnetic_field_sensor.cpp)
target_link_libraries(test_magnetic_field_sensor
controller_interface
hardware_interface::hardware_interface
${sensor_msgs_TARGETS}
)

ament_add_gmock(test_pose_sensor test/test_pose_sensor.cpp)
target_link_libraries(test_pose_sensor
controller_interface
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4 changes: 4 additions & 0 deletions doc/release_notes.rst
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Expand Up @@ -5,6 +5,10 @@ Release Notes: Kilted Kaiju to Lyrical Luth

This list summarizes important changes between Kilted Kaiju (previous) and Lyrical Luth (current) releases.

controller_interface
********************
* The new ``MagneticFieldSensor`` semantic component provides an interface for reading data from magnetometers.

controller_manager
******************

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1 change: 1 addition & 0 deletions hardware_interface/doc/semantic_components.rst
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Expand Up @@ -12,6 +12,7 @@ List of existing ``SemanticComponentInterface`` `(link to header file) <https://
* `IMUSensor <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_interface/include/semantic_components/imu_sensor.hpp>`__, used by :ref:`IMU Sensor Broadcaster <imu_sensor_broadcaster_userdoc>`
* `ForceTorqueSensor <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_interface/include/semantic_components/force_torque_sensor.hpp>`__, used by :ref:`Force Torque Sensor Broadcaster <force_torque_sensor_broadcaster_userdoc>`
* `GPSSensor <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_interface/include/semantic_components/gps_sensor.hpp>`__
* `MagneticFieldSensor <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_interface/include/semantic_components/magnetic_field_sensor.hpp>`__
* `PoseSensor <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_interface/include/semantic_components/pose_sensor.hpp>`__, used by :ref:`Pose Broadcaster <pose_broadcaster_userdoc>`
* `RangeSensor <https://github.com/ros-controls/ros2_control/blob/{REPOS_FILE_BRANCH}/controller_interface/include/semantic_components/range_sensor.hpp>`__, used by :ref:`Range Sensor Broadcaster <range_sensor_broadcaster_userdoc>`

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