Merge remote-tracking branch 'origin/main' into pose_broadcaster

# Conflicts:
#	ur_robot_driver/config/ur_controllers.yaml
#	ur_robot_driver/launch/ur_control.launch.py
#	ur_robot_driver/src/hardware_interface.cpp

Author: Felix Exner

.github/workflows/update-ci.yml

@@ -28,7 +28,7 @@ jobs:
       # Create pull request
       - name: Create pull-request
         id: cpr
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@v7
         with:
           branch: update-ci/pre-commit-autoupdate
           delete-branch: true

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -69,7 +69,7 @@ repos:
       - id: ament_cppcheck
         name: ament_cppcheck
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         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)$
@@ -80,7 +80,7 @@ repos:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -102,7 +102,7 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists.txt$
@@ -113,14 +113,14 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
+        stages: [pre-commit]
         entry: ament_copyright
         language: system
         args: ['--exclude', 'ur_robot_driver/doc/conf.py', 'ur_calibration/doc/conf.py']
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: v1.1.1
+    rev: v1.1.2
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']

Universal_Robots_ROS2_Driver-not-released.humble.repos

@@ -10,7 +10,7 @@ repositories:
   ur_msgs:
     type: git
     url: https://github.com/ros-industrial/ur_msgs.git
-    version: foxy-devel
+    version: humble-devel
   ros2_control:
     type: git
     url: https://github.com/RobertWilbrandt/ros2_control.git

Universal_Robots_ROS2_Driver-not-released.iron.repos

@@ -10,7 +10,7 @@ repositories:
   ur_msgs:
     type: git
     url: https://github.com/ros-industrial/ur_msgs.git
-    version: foxy-devel
+    version: humble-devel
   ros2_control:
     type: git
     url: https://github.com/RobertWilbrandt/ros2_control.git

Universal_Robots_ROS2_Driver.galactic.repos

@@ -54,10 +54,16 @@ generate_parameter_library(
   src/scaled_joint_trajectory_controller_parameters.yaml
 )
 
+generate_parameter_library(
+  ur_configuration_controller_parameters
+  src/ur_configuration_controller_parameters.yaml
+)
+
 add_library(${PROJECT_NAME} SHARED
   src/scaled_joint_trajectory_controller.cpp
   src/speed_scaling_state_broadcaster.cpp
-  src/gpio_controller.cpp)
+  src/gpio_controller.cpp
+  src/ur_configuration_controller.cpp)
 
 target_include_directories(${PROJECT_NAME} PRIVATE
   include
@@ -66,6 +72,7 @@ target_link_libraries(${PROJECT_NAME}
   gpio_controller_parameters
   speed_scaling_state_broadcaster_parameters
   scaled_joint_trajectory_controller_parameters
+  ur_configuration_controller_parameters
 )
 ament_target_dependencies(${PROJECT_NAME}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}