Adapt ci for humble branch (#544)

* Add mergify backport rule for humble

* Update branch references for Humble in main README

* Update build badges to reference scheduled builds

We do the same for foxy and galactic which do not live on the main branch.

* Remove humble builds on main branch except for the schedules

* Do not build ros2_controllers from upstream workspace anymore

With the latest ros2_controllers release this is no longer required.

Author: Felix Exner (fexner)

.github/mergify.yml

@@ -1,4 +1,13 @@
 pull_request_rules:
+  - name: Backport to humble branch
+    conditions:
+      - base=main
+      - label=backport-humble
+    actions:
+      backport:
+        branches:
+          - humble
+
   - name: Backport to galactic branch
     conditions:
       - base=main

.github/workflows/humble-binary-build.yml

@@ -1,11 +1,5 @@
 name: Humble Binary Build
 on:
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '13 4 * * *'
@@ -25,6 +19,8 @@ jobs:
       NOT_TEST_DOWNSTREAM: true
     steps:
       - uses: actions/checkout@v1
+        with:
+          ref: humble
       - uses: 'ros-industrial/industrial_ci@master'
         env:
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}

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

@@ -24,7 +24,7 @@ jobs:
     steps:
       - uses: actions/checkout@v1
         with:
-          ref: main
+          ref: humble
       - name: start ursim
         run: |
           .github/dockerursim/build_and_run_docker_ursim.sh

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

@@ -1,11 +1,5 @@
 name: Humble Semi-Binary Build
 on:
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 5 * * *'
@@ -25,6 +19,8 @@ jobs:
       NOT_TEST_DOWNSTREAM: true
     steps:
       - uses: actions/checkout@v1
+        with:
+          ref: humble
       - uses: 'ros-industrial/industrial_ci@master'
         env:
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}

.github/workflows/humble-source-build.yml

@@ -27,7 +27,7 @@ Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) a
     <th>Branch</th>
     <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy">foxy</a></td>
     <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic">galactic</a></td>
-    <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main">main</a></td>
+    <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/humble">humble</a></td>
     <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main">main</a></td>
   </tr>
   <tr>
@@ -61,16 +61,16 @@ Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) a
       </a>
     </td>
     <td>
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-build.yml?query=branch%3Amain+">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-build.yml/badge.svg?branch=main"
+      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-build.yml?query=event%3Aschedule++">
+         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-build.yml/badge.svg?event=schedule"
               alt="Humble Binary Build"/>
       </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-build.yml?query=branch%3Amain+">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=main"
+      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-build.yml?query=event%3Aschedule++">
+         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-build.yml/badge.svg?event=schedule"
               alt="Humble Semi-Binary Build"/>
       </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-source-build.yml?branch=main">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-source-build.yml/badge.svg?branch=main"
+      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-source-build.yml?query=branch%3Ahumble">
+         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-source-build.yml/badge.svg?branch=humble"
               alt="Humble Source Build"/>
       </a>
     </td>
@@ -146,7 +146,8 @@ Deprecation: The `ur_bringup` package is deprecated and will be removed from Iro
 1. [Install ROS2 Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html).
    For using this driver with ROS2 `foxy`. Checkout [foxy
    branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy), for using it
-   with ROS2 ``galactic``, use the [galactic branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic).
+   with ROS2 ``galactic``, use the [galactic branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic), for using it
+   with ROS2 ``humble``, use the [galactic branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/humble).
 
 2. Make sure that `colcon`, its extensions and `vcs` are installed:
    ```

README.md

@@ -4,7 +4,3 @@
 # Once Upstream packages are released and synced to the target distributions in the required
 # version, the entry in this file shall be removed again.
 repositories:
-  ros2_controllers:
-    type: git
-    url: https://github.com/ros-controls/ros2_controllers.git
-    version: 2.13.0

Universal_Robots_ROS2_Driver-not-released.humble.repos

@@ -4,7 +4,3 @@
 # Once Upstream packages are released and synced to the target distributions in the required
 # version, the entry in this file shall be removed again.
 repositories:
-  ros2_controllers:
-    type: git
-    url: https://github.com/ros-controls/ros2_controllers.git
-    version: 2.13.0