Merge branch 'master' into add/sw_joint_limiter

ros-controls · May 11, 2024 · 2abb02f · 2abb02f
2 parents 1be8fc6 + e260049
commit 2abb02f
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diff --git a/.github/workflows/README.md b/.github/workflows/README.md
@@ -2,5 +2,6 @@
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml?branch=master) <br/> [![Debian Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-debian-build.yml) <br/> [![RHEL Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-rhel-binary-build.yml) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml?branch=master) <br /> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml?branch=master) <br /> [![Jazzy Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-source-build.yml?branch=master) <br/> [![Debian Jazzy Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-debian-build.yml) <br/> [![RHEL Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-rhel-binary-build.yml) | [Documentation](https://control.ros.org/jazzy/index.html) <br /> [API Reference](https://control.ros.org/jazzy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#jazzy)
 **Iron** | [`iron`](https://github.com/ros-controls/ros2_control/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml?branch=master) <br /> [![Iron Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml?branch=master) <br/> [![Debian Iron Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-debian-build.yml) <br/> [![RHEL Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-rhel-binary-build.yml) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml?branch=master) <br/> [![Debian Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-debian-build.yml) <br/> [![RHEL Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-rhel-binary-build.yml) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -4,6 +4,14 @@ on:
  pull_request:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-abi-compatibility.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control-not-released.humble.repos'
 
 jobs:
  abi_check:

diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
@@ -7,9 +7,25 @@ on:
  pull_request:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control-not-released.humble.repos'
  push:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control-not-released.humble.repos'
  schedule:
  # Run every morning to detect flakiness and broken dependencies
  - cron: '03 1 * * *'

diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml
@@ -0,0 +1,18 @@
+name: Humble Check Docs
+
+on:
+ workflow_dispatch:
+ pull_request:
+ branches:
+ - humble
+ paths:
+ - '**.rst'
+ - '**.md'
+ - '**.yaml'
+
+jobs:
+ check-docs:
+ name: Check Docs
+ uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@humble
+ with:
+ ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
@@ -4,14 +4,31 @@ on:
  push:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-coverage-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.humble.repos'
+ - 'codecov.yml'
  pull_request:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-coverage-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.humble.repos'
+ - 'codecov.yml'
 
 jobs:
  coverage_humble:
  uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
  secrets: inherit
  with:
  ros_distro: humble
- os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -4,6 +4,14 @@ on:
  pull_request:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-debian-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.humble.repos'
  schedule:
  # Run every day to detect flakiness and broken dependencies
  - cron: '03 1 * * *'

diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
  uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
  with:
  ros_distro: humble
- os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -4,6 +4,14 @@ on:
  pull_request:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-rhel-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.humble.repos'
  schedule:
  # Run every day to detect flakiness and broken dependencies
  - cron: '03 1 * * *'

diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
@@ -7,9 +7,25 @@ on:
  pull_request:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-semi-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.humble.repos'
  push:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-semi-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.humble.repos'
  schedule:
  # Run every morning to detect flakiness and broken dependencies
  - cron: '03 1 * * *'

diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -4,6 +4,14 @@ on:
  push:
  branches:
  - humble
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/humble-source-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.humble.repos'
  schedule:
  # Run every day to detect flakiness and broken dependencies
  - cron: '03 3 * * *'

diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
@@ -4,6 +4,14 @@ on:
  pull_request:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-abi-compatibility.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control-not-released.iron.repos'
 
 jobs:
  abi_check:

diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
@@ -7,9 +7,25 @@ on:
  pull_request:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control-not-released.iron.repos'
  push:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control-not-released.iron.repos'
  schedule:
  # Run every morning to detect flakiness and broken dependencies
  - cron: '03 1 * * *'

diff --git a/.github/workflows/iron-check-docs.yml b/.github/workflows/iron-check-docs.yml
@@ -0,0 +1,18 @@
+name: Iron Check Docs
+
+on:
+ workflow_dispatch:
+ pull_request:
+ branches:
+ - iron
+ paths:
+ - '**.rst'
+ - '**.md'
+ - '**.yaml'
+
+jobs:
+ check-docs:
+ name: Check Docs
+ uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@iron
+ with:
+ ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
@@ -4,14 +4,31 @@ on:
  push:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-coverage-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.iron.repos'
+ - 'codecov.yml'
  pull_request:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-coverage-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.iron.repos'
+ - 'codecov.yml'
 
 jobs:
  coverage_iron:
  uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
  secrets: inherit
  with:
  ros_distro: iron
- os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -4,6 +4,14 @@ on:
  pull_request:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-debian-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.iron.repos'
  schedule:
  # Run every day to detect flakiness and broken dependencies
  - cron: '03 1 * * *'

diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
  uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
  with:
  ros_distro: iron
- os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
@@ -4,6 +4,14 @@ on:
  pull_request:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-rhel-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.iron.repos'
  schedule:
  # Run every day to detect flakiness and broken dependencies
  - cron: '03 1 * * *'

diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
@@ -7,9 +7,25 @@ on:
  pull_request:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-semi-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.iron.repos'
  push:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-semi-binary-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.iron.repos'
  schedule:
  # Run every morning to detect flakiness and broken dependencies
  - cron: '03 1 * * *'

diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
@@ -4,6 +4,14 @@ on:
  push:
  branches:
  - iron
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/iron-source-build.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control.iron.repos'
  schedule:
  # Run every day to detect flakiness and broken dependencies
  - cron: '03 3 * * *'

diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
@@ -0,0 +1,26 @@
+name: Jazzy - ABI Compatibility Check
+on:
+ workflow_dispatch:
+ pull_request:
+ branches:
+ - master
+ paths:
+ - '**.hpp'
+ - '**.h'
+ - '**.cpp'
+ - '.github/workflows/jazzy-abi-compatibility.yml'
+ - '**/package.xml'
+ - '**/CMakeLists.txt'
+ - 'ros2_control-not-released.jazzy.repos'
+
+jobs:
+ abi_check:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v4
+ - uses: ros-industrial/industrial_ci@master
+ env:
+ ROS_DISTRO: jazzy
+ ROS_REPO: testing
+ ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+ NOT_TEST_BUILD: true