Fix params_file typo in spawner and update release notes for use_global_arguments

[saikishor]

The typo was introduced in #1661

ros2_control/controller_manager/src/controller_manager.cpp

Lines 484 to 495 in 4498d25

	const std::string param_name = controller_name + ".params_file";
	std::string parameters_file;
	// Check if parameter has been declared
	if (!has_parameter(param_name))
	{
	declare_parameter(param_name, rclcpp::ParameterType::PARAMETER_STRING);
	}
	if (get_parameter(param_name, parameters_file) && !parameters_file.empty())
	{
	controller_spec.info.parameters_file = parameters_file;
	}

Fixes: ros-controls/ros2_control_ci#118
Fixes: ros-controls/ros2_control_ci#119
Fixes: ros-controls/ros2_control_ci#120
Fixes: ros-controls/ros2_control_ci#121
Fixes: ros-controls/ros2_control_demos#569
Fixes: ros-controls/ros2_control_demos#570
Fixes: ros-controls/ros2_control_demos#571
Fixes: ros-controls/ros2_control_demos#572

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 86.73%. Comparing base (4498d25) to head (b470a63).
Report is 2 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1701      +/-   ##
==========================================
+ Coverage   86.64%   86.73%   +0.08%     
==========================================
  Files         115      115              
  Lines       10527    10528       +1     
  Branches      970      971       +1     
==========================================
+ Hits         9121     9131      +10     
+ Misses       1056     1047       -9     
  Partials      350      350              

Flag	Coverage Δ
unittests	86.73% <100.00%> (+0.08%)	⬆️

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Files	Coverage Δ
...controller_interface/controller_interface_base.hpp	87.50% <100.00%> (ø)
.../controller_manager/controller_manager_services.py	70.00% <ø> (ø)
controller_manager/src/controller_manager.cpp	78.07% <100.00%> (+0.83%)	⬆️

[saikishor]

We will still have issues with tests like this
https://github.com/ros-controls/ros2_controllers/blob/master/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp
because this https://github.com/ros-controls/ros2_controllers/blob/master/ackermann_steering_controller/CMakeLists.txt#L61-L64 sets the params to the global context and with the new change introduced in #1661 we can't do it this way!

[saikishor]

We will still have issues with tests like this https://github.com/ros-controls/ros2_controllers/blob/master/ackermann_steering_controller/test/test_load_ackermann_steering_controller.cpp because this https://github.com/ros-controls/ros2_controllers/blob/master/ackermann_steering_controller/CMakeLists.txt#L61-L64 sets the params to the global context and with the new change introduced in #1661 we can't do it this way!

Addressed in ros-controls/ros2_controllers#1256

[christophfroehlich]

Tested with ros2_control_demos, thanks for the fix!

[saikishor]

Tested with ros2_control_demos, thanks for the fix!

Thanks to you for taking time and testing it.

[bmagyar]

do we want to reference global arguments rclcpp somewhere in the migration docs?

[saikishor]

do we want to reference global arguments rclcpp somewhere in the migration docs?

Well I've added some info in the migration docs regarding it. It just doesn't use the global context for the parameters and creates its own.

Let me know what you think

[saikishor]

do we want to reference global arguments rclcpp somewhere in the migration docs?

@bmagyar do you mean link of the docs like this: https://docs.ros.org/en/rolling/p/rclcpp/generated/classrclcpp_1_1NodeOptions.html#_CPPv4N6rclcpp11NodeOptions20use_global_argumentsEb

[bmagyar]

Yes I meant that one and if there are any longer writeups of when one would rely on them. Can go into a new PR though, let's merge this!