From 43c9e9e7c0ef0a3626d5eeab8aff2a5c1e07bb01 Mon Sep 17 00:00:00 2001 From: Mike Emery Date: Sun, 20 Aug 2023 22:06:02 +1000 Subject: [PATCH 1/4] Fix diffbot position integration (#350) --- example_2/hardware/diffbot_system.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/example_2/hardware/diffbot_system.cpp b/example_2/hardware/diffbot_system.cpp index 478819573..2602a5dfd 100644 --- 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"), From 35dd6af0758422399d9723f387c214f6aaef2396 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Mon, 4 Sep 2023 21:04:25 +0200 Subject: [PATCH 2/4] Fix link (#354) --- doc/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/index.rst b/doc/index.rst index 68ed96e2a..c3af543bf 100644 --- a/doc/index.rst +++ b/doc/index.rst @@ -84,7 +84,7 @@ 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 `__. -Otherwise, install `ROS 2 {DISTRO} on your computer `__. +Otherwise, install `ROS 2 {DISTRO} on your computer `__. .. note:: From 34cf93c34cb056e2690ae13d5a5fc554ec72d7ef Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 4 Sep 2023 21:48:09 +0200 Subject: [PATCH 3/4] Bump actions/checkout from 3 to 4 (#356) Bumps [actions/checkout](https://github.com/actions/checkout) from 3 to 4. - [Release notes](https://github.com/actions/checkout/releases) - [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md) - [Commits](https://github.com/actions/checkout/compare/v3...v4) --- updated-dependencies: - dependency-name: actions/checkout dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/ci-coverage-build.yml | 2 +- .github/workflows/ci-format.yml | 2 +- .github/workflows/ci-ros-lint.yml | 4 ++-- .github/workflows/humble-docker-build.yaml | 2 +- .github/workflows/prerelease-check.yml | 2 +- .github/workflows/reusable-industrial-ci-with-cache.yml | 4 ++-- .github/workflows/reviewer_lottery.yml | 2 +- .github/workflows/rolling-docker-build.yaml | 2 +- 8 files changed, 10 insertions(+), 10 deletions(-) diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml index 9f07ddaba..b1a543f0c 100644 --- 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 index 7a76e6e39..a03f39856 100644 --- 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 index d60fd7da0..9c6607bb7 100644 --- 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: @@ -39,7 +39,7 @@ 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 index be2f12c47..d9130d3eb 100644 --- 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/prerelease-check.yml b/.github/workflows/prerelease-check.yml index b9460bda4..809471897 100644 --- 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 index 732b0d918..a157ccbd6 100644 --- 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 index 772809825..2edbc9b59 100644 --- 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 index 5e9ff32f2..cfb8b0913 100644 --- 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 From f2d0da51b25507cc53246459c5883149d1a44e98 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Wed, 6 Sep 2023 14:51:54 +0200 Subject: [PATCH 4/4] Add iron CI (#343) * Add iron CI * Update README.md --- .github/workflows/iron-binary-build.yml | 22 ++++++++++++++++++++ .github/workflows/iron-docker-build.yaml | 22 ++++++++++++++++++++ .github/workflows/iron-semi-binary-build.yml | 21 +++++++++++++++++++ README.md | 1 + ros2_control_demos-not-released.iron.repos | 1 + ros2_control_demos.iron.repos | 21 +++++++++++++++++++ 6 files changed, 88 insertions(+) create mode 100644 .github/workflows/iron-binary-build.yml create mode 100644 .github/workflows/iron-docker-build.yaml create mode 100644 .github/workflows/iron-semi-binary-build.yml create mode 100644 ros2_control_demos-not-released.iron.repos create mode 100644 ros2_control_demos.iron.repos diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml new file mode 100644 index 000000000..36a77af98 --- /dev/null +++ b/.github/workflows/iron-binary-build.yml @@ -0,0 +1,22 @@ +name: Iron Binary Build +# author: Denis Štogl +# 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 new file mode 100644 index 000000000..7a5304c66 --- /dev/null +++ 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 new file mode 100644 index 000000000..6fdcc17b0 --- /dev/null +++ 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/README.md b/README.md index 3855e02ac..e83de27ea 100644 --- a/README.md +++ b/README.md @@ -95,6 +95,7 @@ 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)
[![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)
| [Documentation](https://control.ros.org/master/index.html)
[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)
[![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)
| [Documentation](https://control.ros.org/iron/index.html)
[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)
[![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)
| [Documentation](https://control.ros.org/humble/index.html)
[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)
[![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)
| [Documentation](https://control.ros.org/galactic/index.html)
[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)
[![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)
| [Documentation](https://control.ros.org/foxy/index.html)
[API Reference](https://control.ros.org/foxy/doc/api/index.html) diff --git a/ros2_control_demos-not-released.iron.repos b/ros2_control_demos-not-released.iron.repos new file mode 100644 index 000000000..56f46b6f7 --- /dev/null +++ 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 new file mode 100644 index 000000000..4b0771038 --- /dev/null +++ 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