Merge branch 'master' into 133_pr_rebase_again

.github/workflows/humble-docker-build.yaml

@@ -18,5 +18,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
+      with:
+        ref: humble
     - name: Build the Docker image
-      run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_humble
+      run: docker build --file Dockerfile/Dockerfile --tag ros2_control_demos_humble --build-arg ROS_DISTRO=humble .

.github/workflows/humble-pre-commit.yml

@@ -0,0 +1,14 @@
+name: Pre-Commit - Humble
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
+      os_name: ubuntu-22.04

.github/workflows/iron-docker-build.yaml

@@ -18,5 +18,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
+      with:
+        ref: iron
     - name: Build the Docker image
-      run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_iron
+      run: docker build --file Dockerfile/Dockerfile --tag ros2_control_demos_iron --build-arg ROS_DISTRO=iron .

.github/workflows/iron-pre-commit.yml

@@ -0,0 +1,14 @@
+name: Pre-Commit - Iron
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: iron
+      os_name: ubuntu-22.04

.github/workflows/rolling-docker-build.yaml

@@ -18,5 +18,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
+      with:
+        ref: master
     - name: Build the Docker image
-      run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_rolling
+      run: docker build --file Dockerfile/Dockerfile --tag ros2_control_demos_rolling --build-arg ROS_DISTRO=rolling .

.github/workflows/rolling-pre-commit.yml

@@ -0,0 +1,14 @@
+name: Pre-Commit - Rolling
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: rolling
+      os_name: ubuntu-22.04

.github/workflows/update-pre-commit.yml

@@ -0,0 +1,12 @@
+name: Auto Update pre-commit
+# Update pre-commit config and create PR if changes are detected
+# author: Christoph Fröhlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'  # Run every Sunday at midnight
+
+jobs:
+  auto_update_and_create_pr:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-update-pre-commit.yml@master

.pre-commit-config.yaml

@@ -1,3 +1,4 @@
+
 # To use:
 #
 #     pre-commit run -a
@@ -15,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -29,68 +30,57 @@ repos:
       - id: end-of-file-fixer
       - id: mixed-line-ending
       - id: trailing-whitespace
+        exclude_types: [rst]
       - id: fix-byte-order-marker
 
+
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.3.1
+    rev: v3.15.2
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
-  - repo: https://github.com/psf/black
-    rev: 22.12.0
-    hooks:
-      - id: black
-        args: ["--line-length=99"]
-
   # PyDocStyle
   - repo: https://github.com/PyCQA/pydocstyle
-    rev: 6.2.3
+    rev: 6.3.0
     hooks:
     - id: pydocstyle
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
+  - repo: https://github.com/psf/black
+    rev: 24.3.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
   - repo: https://github.com/pycqa/flake8
-    rev: 6.0.0
+    rev: 7.0.0
     hooks:
     - id: flake8
-      args: ["--ignore=E501"]
+      args: ["--extend-ignore=E501"]
 
   # CPP hooks
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.3
     hooks:
       - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format-14
-        language: system
-        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
-  # The same options as in ament_cppcheck are used, but its not working...
-  #- repo: https://github.com/pocc/pre-commit-hooks
-    #rev: v1.1.1
-    #hooks:
-      #- id: cppcheck
-        #args: ['--error-exitcode=1', '-f', '--inline-suppr', '-q', '-rp', '--suppress=internalAstError', '--suppress=unknownMacro', '--verbose']
 
   - repo: local
     hooks:
       - id: ament_cppcheck
         name: ament_cppcheck
         description: Static code analysis of C/C++ files.
-        stages: [commit]
-        entry: ament_cppcheck
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
 
-  # Maybe use https://github.com/cpplint/cpplint instead
   - repo: local
     hooks:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -102,7 +92,6 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists\.txt$
@@ -113,7 +102,6 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
         entry: ament_copyright
         language: system
 
@@ -126,7 +114,7 @@ repos:
         exclude: CHANGELOG\.rst$
 
   - repo: https://github.com/pre-commit/pygrep-hooks
-    rev: v1.9.0
+    rev: v1.10.0
     hooks:
       - id: rst-backticks
         exclude: CHANGELOG\.rst$
@@ -136,8 +124,18 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.2
+    rev: v2.2.6
     hooks:
       - id: codespell
         args: ['--write-changes']
-        exclude: \.(svg|pyc)$
+        exclude: CHANGELOG\.rst|\.(svg|pyc)$
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.1
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]

CONTRIBUTING.md

@@ -50,7 +50,9 @@ As this project, by default, uses the default GitHub issue labels
 
 
 ## Licensing
-Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license]:
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
 
 ~~~
 5. Submission of Contributions. Unless You explicitly state otherwise,

README.md

@@ -52,7 +52,7 @@ The following examples are part of this demo repository:
 
    *RRBot* with an exposed transmission interface.
 
-* Example 9: ["Gazebo classic simulation"](example_9)
+* Example 9: ["Gazebo simulation"](example_9)
 
    Demonstrates how to switch between simulation and hardware.
 

doc/index.rst

@@ -270,7 +270,7 @@ Examples
    Example 6: Modular robots with separate communication to each actuator <../example_6/doc/userdoc.rst>
    Example 7: Full tutorial with a 6DOF robot <../example_7/doc/userdoc.rst>
    Example 8: Using transmissions <../example_8/doc/userdoc.rst>
-   Example 9: Gazebo classic <../example_9/doc/userdoc.rst>
+   Example 9: Gazebo <../example_9/doc/userdoc.rst>
    Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
    Example 11: CarlikeBot <../example_11/doc/userdoc.rst>
    Example 12: Controller chaining <../example_12/doc/userdoc.rst>

example_10/bringup/launch/rrbot.launch.py

@@ -14,15 +14,27 @@
 
 
 from launch import LaunchDescription
-from launch.actions import RegisterEventHandler
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler
 from launch.event_handlers import OnProcessExit
-from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
 
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
+    # Declare arguments
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_mock_hardware",
+            default_value="false",
+            description="Start robot with mock hardware mirroring command to its states.",
+        )
+    )
+    # Initialize Arguments
+    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+
     # Get URDF via xacro
     robot_description_content = Command(
         [
@@ -35,6 +47,9 @@ def generate_launch_description():
                     "rrbot.urdf.xacro",
                 ]
             ),
+            " ",
+            "use_mock_hardware:=",
+            use_mock_hardware,
         ]
     )
     robot_description = {"robot_description": robot_description_content}
@@ -94,4 +109,4 @@ def generate_launch_description():
         delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
-    return LaunchDescription(nodes)
+    return LaunchDescription(declared_arguments + nodes)