Merge branch 'master' into add-simple-joint-limiter

.github/workflows/ci-coverage-build.yml

@@ -21,7 +21,7 @@ jobs:
  with:
  required-ros-distributions: ${{ env.ROS_DISTRO }}
  - uses: actions/checkout@v4
- - uses: ros-tooling/action-ros-ci@0.3.5
+ - uses: ros-tooling/action-ros-ci@0.3.6
  with:
  target-ros2-distro: ${{ env.ROS_DISTRO }}
  import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -31,6 +31,7 @@ jobs:
  controller_manager
  hardware_interface
  joint_limits
+ hardware_interface_testing
  transmission_interface
 
  vcs-repo-file-url: |
@@ -42,12 +43,12 @@ jobs:
  }
  }
  colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
- - uses: codecov/codecov-action@v3.1.4
+ - uses: codecov/codecov-action@v4.0.1
  with:
  file: ros_ws/lcov/total_coverage.info
  flags: unittests
  name: codecov-umbrella
- - uses: actions/upload-artifact@v4.2.0
+ - uses: actions/upload-artifact@v4.3.0
  with:
  name: colcon-logs-ubuntu-22.04-coverage-rolling
  path: ros_ws/log

.github/workflows/ci-ros-lint.yml

@@ -2,6 +2,19 @@ name: ROS Lint
 on:
  pull_request:
 
+env:
+ package-name:
+ controller_interface
+ controller_manager
+ controller_manager_msgs
+ hardware_interface
+ hardware_interface_testing
+ joint_limits
+ ros2controlcli
+ ros2_control
+ ros2_control_test_assets
+ transmission_interface
+
 jobs:
  ament_lint:
  name: ament_${{ matrix.linter }}
@@ -19,17 +32,7 @@ jobs:
  with:
  distribution: rolling
  linter: ${{ matrix.linter }}
- package-name:
- controller_interface
- controller_manager
- controller_manager_msgs
- hardware_interface
- joint_limits
- ros2controlcli
- ros2_control
- ros2_control_test_assets
- transmission_interface
-
+ package-name: ${{ env.package-name }}
  ament_lint_100:
  name: ament_${{ matrix.linter }}
  runs-on: ubuntu-latest
@@ -45,13 +48,4 @@ jobs:
  distribution: rolling
  linter: cpplint
  arguments: "--linelength=100 --filter=-whitespace/newline"
- package-name:
- controller_interface
- controller_manager
- controller_manager_msgs
- hardware_interface
- joint_limits
- ros2controlcli
- ros2_control
- ros2_control_test_assets
- transmission_interface
+ package-name: ${{ env.package-name }}

.github/workflows/humble-binary-build-main.yml

@@ -4,8 +4,6 @@ name: Humble Binary Build - main
 
 on:
  workflow_dispatch:
- branches:
- - humble
  pull_request:
  branches:
  - humble

.github/workflows/humble-binary-build-testing.yml

@@ -4,8 +4,6 @@ name: Humble Binary Build - testing
 
 on:
  workflow_dispatch:
- branches:
- - humble
  pull_request:
  branches:
  - humble

.github/workflows/humble-debian-build.yml

@@ -15,16 +15,24 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: humble
+ skip-packages-build: rqt_controller_manager
+ skip-packages-test: rqt_controller_manager controller_manager_msgs
  container: ghcr.io/ros-controls/ros:humble-debian
  steps:
  - uses: actions/checkout@v4
  with:
  path: src/ros2_control
- - name: Build and test
+ ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
+ - name: Build workspace
  shell: bash
  run: |
  source /opt/ros2_ws/install/setup.bash
  vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
+ run: |
+ source /opt/ros2_ws/install/setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
  colcon test-result --verbose

.github/workflows/humble-rhel-binary-build.yml

@@ -14,18 +14,29 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: humble
+ skip-packages: rqt_controller_manager
  container: ghcr.io/ros-controls/ros:humble-rhel
  steps:
  - uses: actions/checkout@v4
  with:
  path: src/ros2_control
+ ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
  - name: Install dependencies
  run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
  rosdep update
  rosdep install -iyr --from-path src/ros2_control || true
- - name: Build and test
+ - name: Build workspace
+ run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
  run: |
  source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager ros2controlcli
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
  colcon test-result --verbose

.github/workflows/humble-semi-binary-build-main.yml

@@ -3,8 +3,6 @@ name: Humble Semi-Binary Build - main
 
 on:
  workflow_dispatch:
- branches:
- - humble
  pull_request:
  branches:
  - humble

.github/workflows/humble-semi-binary-build-testing.yml

@@ -3,8 +3,6 @@ name: Humble Semi-Binary Build - testing
 
 on:
  workflow_dispatch:
- branches:
- - humble
  pull_request:
  branches:
  - humble

.github/workflows/humble-source-build.yml

@@ -1,8 +1,6 @@
 name: Humble Source Build
 on:
  workflow_dispatch:
- branches:
- - humble
  push:
  branches:
  - humble

.github/workflows/iron-binary-build-main.yml

@@ -4,8 +4,6 @@ name: Iron Binary Build - main
 
 on:
  workflow_dispatch:
- branches:
- - iron
  pull_request:
  branches:
  - iron

.github/workflows/iron-binary-build-testing.yml

@@ -4,8 +4,6 @@ name: Iron Binary Build - testing
 
 on:
  workflow_dispatch:
- branches:
- - iron
  pull_request:
  branches:
  - iron

.github/workflows/iron-debian-build.yml

@@ -15,16 +15,24 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: iron
+ skip-packages-build: rqt_controller_manager
+ skip-packages-test: rqt_controller_manager controller_manager_msgs
  container: ghcr.io/ros-controls/ros:iron-debian
  steps:
  - uses: actions/checkout@v4
  with:
  path: src/ros2_control
- - name: Build and test
+ ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
+ - name: Build workspace
  shell: bash
  run: |
  source /opt/ros2_ws/install/setup.bash
  vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
+ run: |
+ source /opt/ros2_ws/install/setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
  colcon test-result --verbose

.github/workflows/iron-rhel-binary-build.yml

@@ -8,25 +8,36 @@ on:
  # Run every day to detect flakiness and broken dependencies
  - cron: '03 1 * * *'
 
-
 jobs:
  iron_rhel_binary:
  name: Iron RHEL binary build
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: iron
+ skip-packages: rqt_controller_manager
  container: ghcr.io/ros-controls/ros:iron-rhel
  steps:
  - uses: actions/checkout@v4
  with:
  path: src/ros2_control
+ ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
  - name: Install dependencies
  run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
  rosdep update
  rosdep install -iyr --from-path src/ros2_control || true
- - name: Build and test
+ - name: Build workspace
+ # source also underlay workspace with generate_parameter_library on rhel9
+ run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
  run: |
  source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager ros2controlcli
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip  ${{ env.skip-packages }}
  colcon test-result --verbose

.github/workflows/iron-semi-binary-build-main.yml

@@ -3,8 +3,6 @@ name: Iron Semi-Binary Build - main
 
 on:
  workflow_dispatch:
- branches:
- - iron
  pull_request:
  branches:
  - iron

.github/workflows/iron-semi-binary-build-testing.yml

@@ -3,8 +3,6 @@ name: Iron Semi-Binary Build - testing
 
 on:
  workflow_dispatch:
- branches:
- - iron
  pull_request:
  branches:
  - iron

.github/workflows/iron-source-build.yml

@@ -1,8 +1,6 @@
 name: Iron Source Build
 on:
  workflow_dispatch:
- branches:
- - iron
  push:
  branches:
  - iron

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -32,7 +32,7 @@ jobs:
  - uses: actions/checkout@v4
  with:
  ref: ${{ inputs.ref }}
- - uses: ros-tooling/action-ros-ci@0.3.5
+ - uses: ros-tooling/action-ros-ci@0.3.6
  with:
  target-ros2-distro: ${{ inputs.ros_distro }}
  # build all packages listed in the meta package
@@ -50,7 +50,7 @@ jobs:
  https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
  https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
  colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
- - uses: actions/upload-artifact@v4.2.0
+ - uses: actions/upload-artifact@v4.3.0
  with:
  name: colcon-logs-ubuntu-22.04
  path: ros_ws/log

.github/workflows/rolling-binary-build-main.yml

@@ -4,8 +4,6 @@ name: Rolling Binary Build - main
 
 on:
  workflow_dispatch:
- branches:
- - master
  pull_request:
  branches:
  - master

.github/workflows/rolling-debian-build.yml

@@ -15,16 +15,24 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: rolling
+ skip-packages: rqt_controller_manager
  container: ghcr.io/ros-controls/ros:rolling-debian
  steps:
  - uses: actions/checkout@v4
  with:
  path: src/ros2_control
- - name: Build and test
+ # default behavior is correct on master branch
+ # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
+ - name: Build workspace
  shell: bash
  run: |
  source /opt/ros2_ws/install/setup.bash
  vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
+ run: |
+ source /opt/ros2_ws/install/setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
  colcon test-result --verbose