Merge branch 'main' into issue_844

Author: urfeex

.github/helpers/check_urls.sh

@@ -0,0 +1,67 @@
+#!/bin/bash
+
+set -e
+
+IGNORE_FILES=""
+IGNORE_PATTERNS=""
+
+while getopts ":f:d:p:" opt; do
+    case "${opt}" in
+        f)
+            IGNORE_FILES="${OPTARG}";;
+        d)
+            IGNORE_DIRS="${OPTARG}";;
+        p)
+            IGNORE_PATTERNS="${OPTARG}";;
+        \?)
+            echo "Invalid option -$OPTARG"
+            exit;;
+    esac
+done
+
+read -r -a ignore_files <<<"$IGNORE_FILES"
+read -r -a ignore_dirs <<<"$IGNORE_DIRS"
+read -r -a ignore_patterns <<<"$IGNORE_PATTERNS"
+
+IGNORE_FILES_ARG=""
+for item in "${ignore_files[@]}"; do
+  IGNORE_FILES_ARG="$IGNORE_FILES_ARG --exclude=$item"
+done
+IGNORE_DIRS_ARG=""
+for item in "${ignore_dirs[@]}"; do
+  IGNORE_DIRS_ARG="$IGNORE_DIRS_ARG --exclude-dir=$item"
+done
+
+#Find URLs in code:
+urls=$(grep -oP '(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?' -rI $IGNORE_FILES_ARG $IGNORE_DIRS_ARG)
+
+fail_counter=0
+
+FAILED_LINKS=()
+for item in $urls; do
+#     echo $item
+    skip=0
+    for pattern in "${ignore_patterns[@]}"; do
+      [[ "$item" =~ $pattern ]] && skip=1
+    done
+
+    if [[ $skip == 1 ]]; then
+      echo "SKIPPING $item"
+      continue
+    fi
+
+    filename=$(echo "$item" | cut -d':' -f1)
+    url=$(echo "$item" | cut -d':' -f2-)
+    echo -n "Checking $url from file $filename"
+    if ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
+        echo -e " \033[0;31mNOT FOUND\033[32m\n"
+        FAILED_LINKS+=("$url from file $filename")
+        ((fail_counter=fail_counter+1))
+    else
+        printf " \033[32mok\033[0m\n"
+    fi
+done
+
+echo "Failed files:"
+printf '%s\n' "${FAILED_LINKS[@]}"
+exit $fail_counter

.github/workflows/check_links.yml

@@ -0,0 +1,19 @@
+name: Check Links
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  check_links:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Check URLs
+        run: |
+          .github/helpers/check_urls.sh \
+            -d ".git build CMakeModules debian" \
+            -f "package.xml ursim_docker.rst architecture_coarse.svg" \
+            -p "vnc\.html opensource\.org\/licenses\/BSD-3-Clause"

.github/workflows/ci-format.yml

@@ -16,11 +16,11 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v4
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: 3.10.4
     - name: Install system hooks
       run: sudo apt-get install clang-format-14 cppcheck
-    - uses: pre-commit/[email protected].0
+    - uses: pre-commit/[email protected].1
       with:
         extra_args: --all-files --hook-stage manual

.github/workflows/coverage-build.yml

@@ -7,9 +7,9 @@ on:
 jobs:
   coverage:
     name: coverage build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     container:
-      image: ubuntu:jammy
+      image: ubuntu:noble
     strategy:
       fail-fast: false
     env:
@@ -19,33 +19,37 @@ jobs:
       - uses: ros-tooling/[email protected]
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
+          use-ros2-testing: true
       - uses: actions/checkout@v4
       - uses: ros-tooling/[email protected]
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           # build all packages listed in the meta package
           package-name:
-            ur
+            ur_calibration
             ur_controllers
-            ur_dashboard_msgs
-            ur_moveit_config
             ur_robot_driver
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver-not-released.${{ env.ROS_DISTRO }}.repos
           colcon-defaults: |
             {
               "build": {
-                "mixin": ["coverage-gcc"]
+                "mixin": ["coverage-gcc", "coverage-pytest"]
+              },
+              "test": {
+                "mixin": ["coverage-pytest"]
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-          skip-tests: true
-      - uses: codecov/codecov-action@v3
+          skip-tests: false
+      - uses: codecov/codecov-action@v5
         with:
+          fail_ci_if_error: true
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3
+          token: ${{ secrets.CODECOV_TOKEN }}
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-${{ matrix.os }}
           path: ros_ws/log

.github/workflows/foxy-semi-binary-build.yml

@@ -1,15 +1,12 @@
 name: Humble Binary Build Main
 on:
   workflow_dispatch:
-    branches:
-      - humble
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 5 * * *'
 
-
 jobs:
-  binary:
+  humble_binary_main:
     uses: ./.github/workflows/reusable_ici.yml
     with:
       ros_distro: humble

.github/workflows/galactic-execution-test.yml

@@ -1,15 +1,13 @@
 name: Humble Binary Build Testing
 on:
   workflow_dispatch:
-    branches:
-      - humble
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 5 * * *'
 
 
 jobs:
-  binary:
+  humble_binary_testing:
     uses: ./.github/workflows/reusable_ici.yml
     with:
       ros_distro: humble

.github/workflows/galactic-semi-binary-build.yml

@@ -1,15 +1,13 @@
 name: Humble Semi Binary Build Main
 on:
   workflow_dispatch:
-    branches:
-      - humble
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 5 * * *'
 
 
 jobs:
-  binary:
+  humble_semi_main:
     uses: ./.github/workflows/reusable_ici.yml
     with:
       ros_distro: humble