Use ros2 jazzy in main branch (#19)

* switch humble to rolling CI

* add jazzy CI in main branch

* update README

* add mergify config

* add backport (humble only) rule

* fix broken ee_pose_broadcaster

* fix package.xml

.github/mergify.yml

@@ -0,0 +1,42 @@
+pull_request_rules:
+  - name: Backport to humble
+    conditions:
+      - base=main
+      - "label=backport-humble"
+    actions:
+      backport:
+        branches:
+          - humble
+
+  - name: Ask to resolve conflict
+    conditions:
+      - conflict
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it
+                      @{{author}}?
+
+  - name: Ask to resolve conflict for backports
+    conditions:
+      - conflict
+      - author=mergify[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it
+                      @tpoignonec?
+
+  - name: development targets main branch
+    conditions:
+      - base!=main
+      - author!=tpoignonec
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: |
+            @{{author}}, all pull requests must be targeted towards the `master`
+            development branch. Once merged into `master`, it is possible to
+            backport to `{{base}}`, but it must be in `master` to have these
+            changes reflected into new distributions.

.github/workflows/ci-jazzy.yml

@@ -0,0 +1,27 @@
+name: CI (jazzy)
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:noble
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          use-ros2-testing: true
+      - name: Print ls and pwd
+        run: |
+          ls
+          pwd
+      - uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: ./forcedimension_ros2.repos

.github/workflows/ci.yml

@@ -1,4 +1,4 @@
-name: CI (humble)
+name: CI (rolling)
 on:
   push:
     branches: [ main ]
@@ -11,7 +11,7 @@ jobs:
   build:
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:jammy
+      image: ubuntu:noble
     steps:
       - uses: actions/checkout@v4
       - uses: ros-tooling/setup-ros@v0.7
@@ -23,5 +23,5 @@ jobs:
           pwd
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
-          target-ros2-distro: humble
+          target-ros2-distro: rolling
           vcs-repo-file-url: ./forcedimension_ros2.repos

README.md

@@ -6,6 +6,8 @@ This stack includes `ros2_control` drivers for Force Dimension SDK compatible ha
 
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![CI (humble)](../../actions/workflows/ci.yml/badge.svg?branch=humble)](../../actions/workflows/ci.yml?query=branch:humble)
+[![CI (jazzy)](../../actions/workflows/ci-jazzy.yml/badge.svg?branch=main)](../../actions/workflows/ci-jazzy.yml?query=branch:main)
+[![CI (rolling)](../../actions/workflows/ci.yml/badge.svg?branch=main)](../../actions/workflows/ci.yml?query=branch:main)
 
 > **Warning**
 >

fd_bringup/package.xml

@@ -20,6 +20,7 @@
   <exec_depend>xacro</exec_depend>
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>effort_controllers</exec_depend>
   <exec_depend>fd_description</exec_depend>
   <exec_depend>fd_hardware</exec_depend>

fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp

@@ -28,7 +28,6 @@
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/qos_event.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "rcpputils/split.hpp"