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Felix Exner (fexner)RobertWilbrandt
Felix Exner (fexner)
and
RobertWilbrandt
authored
Split build status into two views & add iron workflows (#709)
* Move ci_status to own markdown file * Added workflows for iron * Add instructions for upstream deps on failing builds. * Use uJ64_ instead of uJ64: as prefix The colon seems to break github rendering * Update README.md Co-authored-by: RobertWilbrandt <[email protected]> * improve wording Co-authored-by: RobertWilbrandt <[email protected]> --------- Co-authored-by: RobertWilbrandt <[email protected]>
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‎.github/workflows/iron-binary-main.yml‎

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name: Iron Binary Build Main
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on:
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workflow_dispatch:
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branches:
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- iron
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pull_request:
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branches:
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- iron
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- main # as long as rolling and iron should be compatible
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push:
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branches:
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- iron
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '13 5 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable_ici.yml
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with:
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ros_distro: iron
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ros_repo: main
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upstream_workspace: Universal_Robots_ROS2_Driver-not-released.iron.repos
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ref_for_scheduled_build: iron

‎.github/workflows/iron-binary-testing.yml‎

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name: Iron Binary Build Testing
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on:
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workflow_dispatch:
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branches:
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- iron
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pull_request:
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branches:
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- iron
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- main # as long as rolling and iron should be compatible
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push:
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branches:
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- iron
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '13 5 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable_ici.yml
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with:
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ros_distro: iron
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ros_repo: testing
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upstream_workspace: Universal_Robots_ROS2_Driver-not-released.iron.repos
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ref_for_scheduled_build: iron

‎.github/workflows/iron-semi-binary-main.yml‎

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name: Iron Semi Binary Build Main
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on:
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workflow_dispatch:
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branches:
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- iron
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pull_request:
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branches:
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- iron
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- main # as long as rolling and iron should be compatible
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push:
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branches:
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- iron
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '13 5 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable_ici.yml
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with:
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ros_distro: iron
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ros_repo: main
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upstream_workspace: Universal_Robots_ROS2_Driver.iron.repos
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ref_for_scheduled_build: iron

‎.github/workflows/iron-semi-binary-testing.yml‎

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name: Iron Semi Binary Build Testing
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on:
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workflow_dispatch:
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branches:
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- iron
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pull_request:
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branches:
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- iron
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- main # as long as rolling and iron should be compatible
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push:
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branches:
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- iron
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '13 5 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable_ici.yml
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with:
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ros_distro: iron
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ros_repo: testing
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upstream_workspace: Universal_Robots_ROS2_Driver.iron.repos
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ref_for_scheduled_build: iron

‎README.md‎

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@@ -13,102 +13,68 @@ The driver is compatible across the entire line of UR robots -- from 3 kg payloa
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Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) about this driver.
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## Build Status
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## Release Status
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<table width="100%">
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<tr>
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<th>ROS2 Distro</th>
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<th>Foxy</th>
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<th>Galactic</th>
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<th>Foxy (EOL)</th>
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<th>Galactic (EOL)</th>
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<th>Humble</th>
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<th>Iron</th>
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<th>Rolling</th>
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</tr>
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<tr>
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<th>Branch</th>
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<td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy">foxy</a></td>
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<td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic">galactic</a></td>
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<td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/humble">humble</a></td>
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<td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/iron">iron</a></td>
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<td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main">main</a></td>
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</tr>
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<tr>
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<th>Build Status</th>
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<th>Release status</th>
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<td>
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml?query=event%3Aschedule++">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml/badge.svg?event=schedule"
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alt="Foxy Binary Build"/>
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</a> <br />
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-semi-binary-build.yml?query=event%3Aschedule++">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-semi-binary-build.yml/badge.svg?event=schedule"
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alt="Foxy Semi-Binary Build"/>
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</a>
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</td>
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<td>
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml?query=event%3Aschedule++">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml/badge.svg?event=schedule"
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alt="Galactic Binary Build"/>
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</a> <br />
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-semi-binary-build.yml?query=event%3Aschedule++">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-semi-binary-build.yml/badge.svg?event=schedule"
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alt="Galactic Semi-Binary Build"/>
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</a>
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</td>
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<td>
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-main.yml?query=event%3Aschedule++">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-main.yml/badge.svg?event=schedule"
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alt="Humble Binary Main"/>
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</a> <br />
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-testing.yml?query=event%3Aschedule++">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-testing.yml/badge.svg?event=schedule"
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alt="Humble Binary Testing"/>
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</a> <br />
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-main.yml?query=event%3Aschedule++">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-main.yml/badge.svg?event=schedule"
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alt="Humble Semi-Binary Main"/>
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</a> <br />
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-testing.yml?query=event%3Aschedule++">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-testing.yml/badge.svg?event=schedule"
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alt="Humble Semi-Binary Testing"/>
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</a>
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<a href='https://build.ros2.org/job/Hbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_calibration'></a><br/>
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<a href='https://build.ros2.org/job/Hbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_controllers'></a>
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<a href='https://build.ros2.org/job/Hbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_dashboard_msgs'></a>
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<a href='https://build.ros2.org/job/Hbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_moveit_config'></a>
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<a href='https://build.ros2.org/job/Hbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_robot_driver'></a>
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</td>
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<td>
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-main.yml?query=branch%3Amain+">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-main.yml/badge.svg?branch=main"
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alt="Rolling Binary Main"/>
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</a> <br />
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-testing.yml?query=branch%3Amain+">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-testing.yml/badge.svg?branch=main"
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alt="Rolling Binary Testing"/>
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</a> <br />
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-main.yml?query=branch%3Amain+">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-main.yml/badge.svg?branch=main"
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alt="Rolling Semi-Binary Main"/>
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</a> <br />
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<a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-testing.yml?query=branch%3Amain+">
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<img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-testing.yml/badge.svg?branch=main"
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alt="Rolling Semi-Binary Testing"/>
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</a>
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<a href='https://build.ros2.org/job/Ibin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_calibration'></a><br/>
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<a href='https://build.ros2.org/job/Ibin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_controllers'></a>
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<a href='https://build.ros2.org/job/Ibin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_dashboard_msgs'></a>
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<a href='https://build.ros2.org/job/Ibin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_moveit_config'></a>
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<a href='https://build.ros2.org/job/Ibin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_robot_driver'></a>
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</td>
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<td>
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<a href='https://build.ros2.org/job/Rbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_calibration'></a><br/>
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<a href='https://build.ros2.org/job/Rbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_controllers'></a>
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<a href='https://build.ros2.org/job/Rbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_dashboard_msgs'></a>
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<a href='https://build.ros2.org/job/Rbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_moveit_config'></a>
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<a href='https://build.ros2.org/job/Rbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_robot_driver'></a>
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</td>
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</tr>
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</table>
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The table above shows the build status for each package of this repo from the [ROS buildfarm](https://build.ros2.org/). For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features.
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**NOTE**: There are two build stages checking current and future compatibility of the driver.
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1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that
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direct local build is possible and is the most relevant workflow for users.
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Uses repos file: `src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.<ros-distro>.repos`
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1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
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Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
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Uses repos file: `src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.repos`
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Each of these stages also performs integration tests using ursim. In order to execute these tests locally, they have to be enabled:
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```
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colcon build --packages-select ur_robot_driver --cmake-args -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=On
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```
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A more [detailed build status](ci_status.md) shows the state of all CI workflows inside this repo.
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Please note that the detailed view is intended for developers, while the one here should give end
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users an overview of the current released state.
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## Packages in the Repository:
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source install/setup.bash
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```
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6. When consecutive pulls leads to build errors, please make sure to update the upstream packages before
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filing an issue:
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6. When consecutive pulls lead to build errors it is possible that you'll have to build an upstream
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package from source, as well. See the [detailed build status](ci_status.md). When the binary builds are red, but
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the semi-binary builds are green, you need to build the upstream dependencies from source. The
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easiest way to achieve this, is using the repos file:
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```
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cd $COLCON_WS
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vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
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vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.${ROS_DISTRO}.repos
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rosdep update
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rosdep install --ignore-src --from-paths src -y
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```

‎Universal_Robots_ROS2_Driver-not-released.iron.repos‎

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# The not-released files are meant to use upstream packages in binary form whenever possible.
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# Packages get added here, if they are not released at all or when the repo's current version
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# requires a newer version than the one currently released to the target distributions.
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# Once Upstream packages are released and synced to the target distributions in the required
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# version, the entry in this file shall be removed again.
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repositories:
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Universal_Robots_ROS2_Description:
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type: git
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url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
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version: ros2

‎Universal_Robots_ROS2_Driver.iron.repos‎

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repositories:
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Universal_Robots_Client_Library:
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type: git
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url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git
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version: master
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Universal_Robots_ROS2_Description:
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type: git
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url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
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version: ros2
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ur_msgs:
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type: git
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url: https://github.com/ros-industrial/ur_msgs.git
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version: foxy-devel
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ros2_control:
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type: git
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url: https://github.com/ros-controls/ros2_control.git
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version: master
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ros2_controllers:
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type: git
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url: https://github.com/ros-controls/ros2_controllers
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version: master
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kinematics_interface:
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type: git
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url: https://github.com/ros-controls/kinematics_interface.git
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version: master
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control_msgs:
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type: git
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url: https://github.com/ros-controls/control_msgs.git
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version: humble

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