4am-robotics · majdkhalife · Nov 17, 2022 · Apr 29, 2023 · Apr 29, 2023 · Oct 25, 2023
diff --git a/.ci.xacro_test.sh b/.ci.xacro_test.sh
@@ -0,0 +1,14 @@
+#!/bin/sh
+status=0
+# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it.
+if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then
+    xacro_args='--inorder'
+else
+    xacro_args=''
+fi
+
+for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do
+    echo "Testing $x"
+    xacro $xacro_args "$x" > /dev/null || status=1
+done
+exit $status
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -0,0 +1,7 @@
+---
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -0,0 +1,40 @@
+name: GHA CI
+
+on:
+  push:
+  pull_request:
+  schedule:
+    - cron: "0 0 * * 0" # every Sunday at midnight
+  workflow_dispatch:
+
+jobs:
+  industrial_ci:
+    name: GHA CI
+    runs-on: ubuntu-latest
+    timeout-minutes: 60
+
+    env:
+      ADDITIONAL_DEBS: 'apt-utils dialog git'
+      AFTER_SCRIPT: 'rosenv sh .ci.xacro_test.sh'
+      CATKIN_LINT: pedantic
+      CATKIN_LINT_ARGS: '--ignore description_boilerplate'
+      CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
+      PYLINT_ARGS: '--output-format=parseable --errors-only'
+      PYLINT_CHECK: true
+      ROS_REPO: main
+
+    strategy:
+      matrix:
+        include:
+          - { ROS_DISTRO: noetic }
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+          lfs: true
+          ssh-known-hosts: ''
+
+      - uses: ros-industrial/industrial_ci@master
+        with:
+          config: ${{toJSON(matrix)}}
diff --git a/.travis.xacro_test.sh b/.travis.xacro_test.sh
diff --git a/.travis.yml b/.travis.yml
diff --git a/README.md b/README.md
@@ -1,25 +1,6 @@
 cob_common
 ===========
 
-## ROS Distro Support
+## GitHub Actions - Continuous Integration
 
-|         | Indigo | Jade | Kinetic | Melodic |
-|:-------:|:------:|:----:|:-------:|:-------:|
-| Branch  | [`indigo_dev`](https://github.com/ipa320/cob_common/tree/indigo_dev) | [`indigo_dev`](https://github.com/ipa320/cob_common/tree/indigo_dev) | [`kinetic_dev`](https://github.com/ipa320/cob_common/tree/kinetic_dev) | [`kinetic_dev`](https://github.com/ipa320/cob_common/tree/kinetic_dev) |
-| Status  |  supported | not supported |  supported | supported |
-| Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=cob_common) | [version](http://repositories.ros.org/status_page/ros_melodic_default.html?q=cob_common) |
-
-## Travis - Continuous Integration
-
-Status: [![Build Status](https://travis-ci.com/ipa320/cob_common.svg?branch=kinetic_dev)](https://travis-ci.com/ipa320/cob_common)
-
-## ROS Buildfarm
-
-|         | Indigo Source | Indigo Debian | Jade Source | Jade Debian | Kinetic Source | Kinetic Debian | Melodic Source | Melodic Debian |
-|:-------:|:-------------:|:-------------:|:-----------:|:-----------:|:--------------:|:--------------:|:--------------:|:--------------:|
-| cob_common | [![not released](http://build.ros.org/buildStatus/icon?job=Isrc_uT__cob_common__ubuntu_trusty__source)](http://build.ros.org/view/Isrc_uT/job/Isrc_uT__cob_common__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ibin_uT64__cob_common__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__cob_common__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jsrc_uT__cob_common__ubuntu_trusty__source)](http://build.ros.org/view/Jsrc_uT/job/Jsrc_uT__cob_common__ubuntu_trusty__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Jbin_uT64__cob_common__ubuntu_trusty_amd64__binary)](http://build.ros.org/view/Jbin_uT64/job/Jbin_uT64__cob_common__ubuntu_trusty_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__cob_common__ubuntu_xenial__source)](http://build.ros.org/view/Ksrc_uX/job/Ksrc_uX__cob_common__ubuntu_xenial__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__cob_common__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__cob_common__ubuntu_xenial_amd64__binary/) | [![not released](http://build.ros.org/buildStatus/icon?job=Msrc_uB__cob_common__ubuntu_bionic__source)](http://build.ros.org/view/Msrc_uB/job/Msrc_uB__cob_common__ubuntu_bionic__source/) | [![not released](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__cob_common__ubuntu_bionic_amd64__binary)](http://build.ros.org/view/Mbin_uB64/job/Mbin_uB64__cob_common__ubuntu_bionic_amd64__binary/) |
-
-
-This is a repository for Care-O-bot URDF macros and common message/service descriptions.
-
-Installation instructions and tutorials can be found at http://www.care-o-bot.org.
+CI-Status ```noetic-devel```: [![GHA CI](https://github.com/4am-robotics/cob_common/actions/workflows/main.yml/badge.svg?branch=noetic-devel)](https://github.com/4am-robotics/cob_common/actions/workflows/main.yml?query=branch%3Anoetic-devel)
diff --git a/all_changes.patch b/all_changes.patch
@@ -0,0 +1,122 @@
+diff --git a/.ci.xacro_test.sh b/.ci.xacro_test.sh
+index d53f97b..a80e8a6 100644
+--- a/.ci.xacro_test.sh
++++ b/.ci.xacro_test.sh
+@@ -1,7 +1,13 @@
+ #!/bin/sh
+ status=0
+-[ "$ROS_DISTRO" \< "melodic" ] && xacro_args='--inorder'
+-for x in $(find "$TARGET_REPO_PATH" -name '*.xacro'|sort); do
++# Only set --inorder if running on older ROS 1 distros; for ROS 2 (Humble) we don't need it.
++if [ -n "$ROS_DISTRO" ] && { [ "$ROS_DISTRO" = "indigo" ] || [ "$ROS_DISTRO" = "jade" ] || [ "$ROS_DISTRO" = "kinetic" ]; }; then
++    xacro_args='--inorder'
++else
++    xacro_args=''
++fi
++
++for x in $(find "$TARGET_REPO_PATH" -name '*.xacro' | sort); do
+     echo "Testing $x"
+     xacro $xacro_args "$x" > /dev/null || status=1
+ done
+diff --git a/cob_actions/package.xml b/cob_actions/package.xml
+index 47261e4..be05704 100644
+--- a/cob_actions/package.xml
++++ b/cob_actions/package.xml
+@@ -16,4 +16,5 @@
+   <depend>action_msgs</depend>
+
+   <exec_depend>rosidl_default_runtime</exec_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
+ </package>
+diff --git a/cob_common/CMakeLists.txt b/cob_common/CMakeLists.txt
+index edffff6..402eafb 100644
+--- a/cob_common/CMakeLists.txt
++++ b/cob_common/CMakeLists.txt
+@@ -1,5 +1,7 @@
+ cmake_minimum_required(VERSION 3.8)
+ project(cob_common)
+
++# Make the ament_metapackage() command available.
+ find_package(ament_cmake REQUIRED)
+-ament_metapackage()
++
++ament_package()
+diff --git a/cob_common/package.xml b/cob_common/package.xml
+index 9999397..63bbd3c 100644
+--- a/cob_common/package.xml
++++ b/cob_common/package.xml
+@@ -17,8 +17,6 @@
+   <exec_depend>cob_actions</exec_depend>
+   <exec_depend>cob_msgs</exec_depend>
+   <exec_depend>cob_srvs</exec_depend>
+-  
+-  <export>
+-    <metapackage/>
+-  </export>
++  <member_of_group>rosidl_interface_packages</member_of_group>
++
+ </package>
+diff --git a/cob_msgs/msg/AccessPoint.msg b/cob_msgs/msg/AccessPoint.msg
+index da7d9bd..84c5de9 100644
+--- a/cob_msgs/msg/AccessPoint.msg
++++ b/cob_msgs/msg/AccessPoint.msg
+@@ -1,5 +1,5 @@
+ # This message communicates the state of the PR2's wifi access point.
+-Header header
++std_msgs/Header header
+ string essid
+ string macaddr
+ int32 signal
+diff --git a/cob_msgs/msg/PowerState.msg b/cob_msgs/msg/PowerState.msg
+index 47cf00d..d15d711 100644
+--- a/cob_msgs/msg/PowerState.msg
++++ b/cob_msgs/msg/PowerState.msg
+@@ -1,5 +1,5 @@
+ # This message communicates the state of the power system.
+-Header header
++std_msgs/Header header   
+ float64 voltage                     # [V]
+ float64 current                     # [A]
+ float64 power_consumption           # [W] can only be calculated if not charging
+diff --git a/cob_msgs/msg/SafetyControllerState.msg b/cob_msgs/msg/SafetyControllerState.msg
+index 04a8e81..12b8d97 100644
+--- a/cob_msgs/msg/SafetyControllerState.msg
++++ b/cob_msgs/msg/SafetyControllerState.msg
+@@ -1,4 +1,4 @@
+-Header header
++std_msgs/Header header 
+ bool has_wireless_emstop
+ bool has_fall_sensors
+ bool has_magnetic_safety_switch
+diff --git a/cob_msgs/msg/SiteSurvey.msg b/cob_msgs/msg/SiteSurvey.msg
+index fadf87b..5d57c98 100644
+--- a/cob_msgs/msg/SiteSurvey.msg
++++ b/cob_msgs/msg/SiteSurvey.msg
+@@ -1,2 +1,2 @@
+-Header header
++std_msgs/Header header    
+ Network[] networks
+diff --git a/cob_msgs/package.xml b/cob_msgs/package.xml
+index 0575133..34a48cd 100644
+--- a/cob_msgs/package.xml
++++ b/cob_msgs/package.xml
+@@ -19,4 +19,5 @@
+   <depend>std_msgs</depend>
+
+   <exec_depend>rosidl_default_runtime</exec_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
+ </package>
+diff --git a/cob_srvs/package.xml b/cob_srvs/package.xml
+index a51c8a3..24be9a6 100644
+--- a/cob_srvs/package.xml
++++ b/cob_srvs/package.xml
+@@ -13,8 +13,7 @@
+
+   <buildtool_depend>ament_cmake</buildtool_depend>
+   <buildtool_depend>rosidl_default_generators</buildtool_depend>
+-
+   <depend>geometry_msgs</depend>
+-
+   <exec_depend>rosidl_default_runtime</exec_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
+ </package>
diff --git a/cob_actions/CHANGELOG.rst b/cob_actions/CHANGELOG.rst
@@ -2,6 +2,24 @@
 Changelog for package cob_actions
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.12 (2024-08-05)
+-------------------
+
+0.8.11 (2024-04-30)
+-------------------
+* 0.7.11
+* update changelogs
+* Contributors: fmessmer
+
+0.7.11 (2024-04-18)
+-------------------
+
+0.7.10 (2024-02-20)
+-------------------
+
+0.7.9 (2023-11-06)
+------------------
+
 0.7.8 (2022-07-29)
 ------------------
 

diff --git a/cob_actions/CMakeLists.txt b/cob_actions/CMakeLists.txt
@@ -1,20 +1,21 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(cob_actions)
 
-find_package(catkin REQUIRED COMPONENTS actionlib_msgs geometry_msgs message_generation)
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(action_msgs REQUIRED)  # ROS 2 uses built-in action types
 
-add_action_files(FILES
-  Dock.action
-  SetBool.action
-  SetFloat.action
-  SetInt.action
-  SetString.action
+# Generate action interfaces.
+# Make sure your action files are in the "action" directory.
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/Dock.action"
+  "action/SetBool.action"
+  "action/SetFloat.action"
+  "action/SetInt.action"
+  "action/SetString.action"
+  DEPENDENCIES geometry_msgs action_msgs
 )
 
-generate_messages(
-  DEPENDENCIES actionlib_msgs geometry_msgs
-)
-
-catkin_package(
-    CATKIN_DEPENDS actionlib_msgs geometry_msgs message_runtime
-)
+ament_package()
diff --git a/cob_actions/package.xml b/cob_actions/package.xml
@@ -1,21 +1,20 @@
-<package format="2">
+<?xml version="1.0"?>
+<package format="3">
   <name>cob_actions</name>
-  <version>0.7.8</version>
-  <description>This Package contains Care-O-bot specific action definitions.</description>
-
-  <license>Apache 2.0</license>
-
+  <version>0.8.12</version>
+  <description>This package contains Care-O-bot specific action definitions.</description>
+  <license>Apache-2.0</license>
   <url type="website">http://ros.org/wiki/cob_actions</url>
-  <!-- <url type="bugtracker"></url> -->
-
+  <maintainer email="[email protected]">Benjamin Maidel</maintainer>
+  <maintainer email="[email protected]">Denis Lehmann</maintainer>
   <maintainer email="[email protected]">Felix Messmer</maintainer>
-  <author email="[email protected]">Felix Messmer</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>message_generation</build_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <depend>actionlib_msgs</depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
   <depend>geometry_msgs</depend>
-
+  <depend>action_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
 </package>
diff --git a/cob_common/CHANGELOG.rst b/cob_common/CHANGELOG.rst
@@ -2,6 +2,33 @@
 Changelog for package cob_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.12 (2024-08-05)
+-------------------
+
+0.8.11 (2024-04-30)
+-------------------
+* 0.7.11
+* update changelogs
+* Merge pull request `#308 <https://github.com/4am-robotics/cob_common/issues/308>`_ from fmessmer/noetic-devel
+  [ROS1] cob4 eol cleanup
+* remove cob_description
+* remove raw_description
+* Contributors: Felix Messmer, fmessmer
+
+0.7.11 (2024-04-18)
+-------------------
+* Merge pull request `#308 <https://github.com/4am-robotics/cob_common/issues/308>`_ from fmessmer/noetic-devel
+  [ROS1] cob4 eol cleanup
+* remove cob_description
+* remove raw_description
+* Contributors: Felix Messmer, fmessmer
+
+0.7.10 (2024-02-20)
+-------------------
+
+0.7.9 (2023-11-06)
+------------------
+
 0.7.8 (2022-07-29)
 ------------------
 

diff --git a/cob_common/CMakeLists.txt b/cob_common/CMakeLists.txt
@@ -1,4 +1,7 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(cob_common)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+
+# Make the ament_metapackage() command available.
+find_package(ament_cmake REQUIRED)
+
+ament_package()