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lines changed Original file line number Diff line number Diff line change 1- name : Binary Build
1+ name : Foxy Binary Build
22on :
33 pull_request :
44 branches :
88 - foxy
99 schedule :
1010 # Run every morning to detect flakiness and broken dependencies
11- - cron : ' 43 8 * * *'
11+ - cron : ' 43 5 * * *'
1212
1313jobs :
1414 foxy_binary :
Original file line number Diff line number Diff line change 1- name : Semi-Binary Build
1+ name : Foxy Semi-Binary Build
22on :
33 pull_request :
44 branches :
88 - foxy
99 schedule :
1010 # Run every morning to detect flakiness and broken dependencies
11- - cron : ' 43 8 * * *'
11+ - cron : ' 23 5 * * *'
1212
1313jobs :
14- binary :
15- name : binary build
14+ foxy_semi_binary :
15+ name : foxy semi- binary build
1616 runs-on : ubuntu-latest
1717 strategy :
1818 matrix :
Original file line number Diff line number Diff line change 1- name : Source Build
1+ name : Foxy Source Build
22on :
33 push :
44 branches :
55 - foxy
66 schedule :
77 # Run every morning to detect flakiness and broken dependencies
8- - cron : ' 43 1 * * *'
8+ - cron : ' 43 3 * * *'
99
1010jobs :
1111 foxy_source :
12- name : foxy source build
1312 runs-on : ubuntu-20.04
1413 strategy :
1514 fail-fast : false
15+ env :
16+ ROS_DISTRO : foxy
1617 steps :
1718 -
uses :
ros-tooling/[email protected] 1819 with :
19- required-ros-distributions : foxy
20+ required-ros-distributions : ${{ env.ROS_DISTRO }}
2021 - uses : actions/checkout@v1
2122 - name : start ursim
2223 run : |
2324 .github/dockerursim/build_and_run_docker_ursim.sh
2425 -
uses :
ros-tooling/[email protected] 2526 with :
26- target-ros2-distro : foxy
27+ target-ros2-distro : ${{ env.ROS_DISTRO }}
2728 # build all packages listed in the meta package
2829 package-name :
2930 ur_bringup
3334 ur_moveit_config
3435 ur_robot_driver
3536 vcs-repo-file-url : |
36- https://raw.githubusercontent.com/ros2/ros2/foxy /ros2.repos
37+ https://raw.githubusercontent.com/ros2/ros2/${{ env.ROS_DISTRO }} /ros2.repos
3738 https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver.repos
3839colcon-mixin-repository : https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
3940 - uses : actions/upload-artifact@v1
Original file line number Diff line number Diff line change @@ -15,7 +15,7 @@ The driver is compatible across the entire line of UR robots -- from 3 kg payloa
1515ROS2 Distro | Foxy | Galactic | Rolling
1616:---------: | :---: | :------: | :-----:
1717** Branch** | [ foxy] ( https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy ) | [ main] ( https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main ) | [ main] ( https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main )
18- **Build Status** | [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/ci-build-binary.yml?branch=foxy) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/ci-build-semi-binary.yml?branch=foxy) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/ci-build-source.yml?branch=foxy) | [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/ci-build-binary-galactic.yml) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/ci-build-semi-binary.yml) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/ci-build-source.yml) | [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/ci-build-binary-rolling.yml) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/ci-build-semi-binary.yml) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/ci-build-source.yml)
18+ **Build Status** | [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-source-build.yml?branch=foxy) | [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml?branch=main) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-semi-binary-build.yml?branch=main) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-source-build.yml?branch=main) | [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-build.yml?branch=main) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-build.yml?branch=main) <br /> [](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-source-build.yml?branch=main)
1919
2020** NOTE** : There are three build stages checking current and future compatibility of the driver.
2121
@@ -56,7 +56,7 @@ ROS2 Distro | Foxy | Galactic | Rolling
5656
57573 . Create a new ROS2 workspace:
5858 ```
59- export COLCON_WS=~/workspace/ros_ws_foxy_ur_driver
59+ export COLCON_WS=~/workspace/ros_ur_driver
6060 mkdir -p $COLCON_WS/src
6161```
6262
@@ -166,6 +166,8 @@ The most relevant arguments are the following:
166166 ```
167167 ros2 launch ur_description view_ur.launch.py ur_type:=ur5e
168168```
169+ ## Usage with official UR simulator
170+ The docker-compose setup is prepared for usage of driver with the official UR simulator. Follow instructions [ here] ( ur_robot_driver/resources/ursim_driver/README.md ) .
169171
170172## Expected Changes in the Near Future
171173
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