Merge branch 'master' into example_10

ros-controls · Sep 6, 2023 · 060e150 · 060e150
2 parents affc539 + f2d0da5
commit 060e150
Show file tree

Hide file tree

Showing 16 changed files with 100 additions and 12 deletions.
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -18,7 +18,7 @@ jobs:
       - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}

diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -12,7 +12,7 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: actions/setup-python@v4.7.0
       with:
         python-version: '3.10'

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -13,7 +13,7 @@ jobs:
     env:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
@@ -40,7 +40,7 @@ jobs:
       matrix:
           linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:

diff --git a/.github/workflows/humble-docker-build.yaml b/.github/workflows/humble-docker-build.yaml
@@ -17,6 +17,6 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Build the Docker image
       run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_humble
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
@@ -0,0 +1,22 @@
+name: Iron Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_control_demos-not-released.iron.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/iron-docker-build.yaml b/.github/workflows/iron-docker-build.yaml
@@ -0,0 +1,22 @@
+name: Build Iron Dockerfile
+# description: builds the dockerfile contained within the repo
+
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect broken dependencies
+    - cron: '50 1 * * *'
+
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build the Docker image
+      run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_iron
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
@@ -0,0 +1,21 @@
+name: Iron Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_control_demos.iron.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
@@ -28,7 +28,7 @@ jobs:
   pre_release:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ github.event.inputs.branch }}
       - name: industrial_ci

diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -62,10 +62,10 @@ jobs:
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) && github.event_name != 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Checkout ${{ inputs.ref }} on scheduled build
         if: ${{ (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) && github.event_name == 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws

diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
@@ -7,7 +7,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: uesteibar/reviewer-lottery@v3
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-docker-build.yaml b/.github/workflows/rolling-docker-build.yaml
@@ -17,6 +17,6 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Build the Docker image
       run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_rolling
diff --git a/README.md b/README.md
@@ -96,6 +96,7 @@ Those two world-known imaginary robots are trivial simulations to demonstrate an
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
+**Iron** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control_demos/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml?branch=humble) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml?branch=humble) <br /> | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)
 **Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html)
 **Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control_demos/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html)

diff --git a/doc/index.rst b/doc/index.rst
@@ -87,7 +87,7 @@ Local installation
 
 If you have ROS 2 installed already, choose the right version of this documentation and branch of the ``ros2_control_demos`` repository matching you ROS 2 distribution, see `this table <https://github.com/ros-controls/ros2_control_demos#build-status>`__.
 
-Otherwise, install `ROS 2 {DISTRO} on your computer <https://docs.ros.org/en/rolling/Installation.html>`__.
+Otherwise, install `ROS 2 {DISTRO} on your computer <https://docs.ros.org/en/{DISTRO}/Installation.html>`__.
 
 .. note::
 

diff --git a/example_2/hardware/diffbot_system.cpp b/example_2/hardware/diffbot_system.cpp
@@ -180,7 +180,7 @@ hardware_interface::return_type DiffBotSystemHardware::read(
     // Simulate DiffBot wheels's movement as a first-order system
     // Update the joint status: this is a revolute joint without any limit.
     // Simply integrates
-    hw_positions_[i] = hw_positions_[1] + period.seconds() * hw_velocities_[i];
+    hw_positions_[i] = hw_positions_[i] + period.seconds() * hw_velocities_[i];
 
     RCLCPP_INFO(
       rclcpp::get_logger("DiffBotSystemHardware"),

diff --git a/ros2_control_demos-not-released.iron.repos b/ros2_control_demos-not-released.iron.repos
@@ -0,0 +1 @@
+repositories:
diff --git a/ros2_control_demos.iron.repos b/ros2_control_demos.iron.repos
@@ -0,0 +1,21 @@
+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master
+  gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    version: master