From df00de5c79f582067fa0c09cd2bb4163363de81b Mon Sep 17 00:00:00 2001
From: Thibault Poignonec <79221188+tpoignonec@users.noreply.github.com>
Date: Fri, 28 Jun 2024 17:25:10 +0200
Subject: [PATCH] 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 | 42 +++++++++++++++++++
.github/workflows/ci-jazzy.yml | 27 ++++++++++++
.github/workflows/ci.yml | 6 +--
README.md | 2 +
fd_bringup/package.xml | 1 +
.../src/ee_pose_broadcaster.cpp | 1 -
6 files changed, 75 insertions(+), 4 deletions(-)
create mode 100644 .github/mergify.yml
create mode 100644 .github/workflows/ci-jazzy.yml
diff --git a/.github/mergify.yml b/.github/mergify.yml
new file mode 100644
index 0000000..be99942
--- /dev/null
+++ b/.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.
diff --git a/.github/workflows/ci-jazzy.yml b/.github/workflows/ci-jazzy.yml
new file mode 100644
index 0000000..ffa0f1d
--- /dev/null
+++ b/.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
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 66d539d..d633dd9 100644
--- a/.github/workflows/ci.yml
+++ b/.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
diff --git a/README.md b/README.md
index 2e90264..ee898fb 100644
--- a/README.md
+++ b/README.md
@@ -6,6 +6,8 @@ This stack includes `ros2_control` drivers for Force Dimension SDK compatible ha
[](https://opensource.org/licenses/Apache-2.0)
[](../../actions/workflows/ci.yml?query=branch:humble)
+[](../../actions/workflows/ci-jazzy.yml?query=branch:main)
+[](../../actions/workflows/ci.yml?query=branch:main)
> **Warning**
>
diff --git a/fd_bringup/package.xml b/fd_bringup/package.xml
index 8577134..7c1bc71 100644
--- a/fd_bringup/package.xml
+++ b/fd_bringup/package.xml
@@ -20,6 +20,7 @@
xacro
controller_manager
joint_state_publisher
+ joint_state_broadcaster
effort_controllers
fd_description
fd_hardware
diff --git a/fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp b/fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp
index 9b31fab..5e5f3de 100644
--- a/fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp
+++ b/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"