From db6f6afd044b74b61e948f9979e406f5ea683a7d Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 25 Mar 2025 11:18:51 +0100 Subject: [PATCH 1/4] Remove github.job from cache identifier It is the same for all of them, anyway --- .github/workflows/reusable_ici.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/reusable_ici.yml b/.github/workflows/reusable_ici.yml index b19f1c433..7c4d36242 100644 --- a/.github/workflows/reusable_ici.yml +++ b/.github/workflows/reusable_ici.yml @@ -41,7 +41,7 @@ jobs: env: DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net' CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }} - CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }} + CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }} steps: - name: Checkout ${{ github.ref_name }} since build is not scheduled if: ${{ github.event_name != 'schedule' }} From d28a47aa48938808278875f714bc9092afa83b82 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 25 Mar 2025 11:20:07 +0100 Subject: [PATCH 2/4] Remove semi-binary-testing builds They don't make a lot of sense. We don't need to know whether our direct dependencies fail on the testing repos. --- .../workflows/humble-semi-binary-testing.yml | 16 -------------- .../workflows/jazzy-semi-binary-testing.yml | 21 ------------------- .../workflows/rolling-semi-binary-testing.yml | 21 ------------------- 3 files changed, 58 deletions(-) delete mode 100644 .github/workflows/humble-semi-binary-testing.yml delete mode 100644 .github/workflows/jazzy-semi-binary-testing.yml delete mode 100644 .github/workflows/rolling-semi-binary-testing.yml diff --git a/.github/workflows/humble-semi-binary-testing.yml b/.github/workflows/humble-semi-binary-testing.yml deleted file mode 100644 index 63a1de1ed..000000000 --- a/.github/workflows/humble-semi-binary-testing.yml +++ /dev/null @@ -1,16 +0,0 @@ -name: Humble Semi Binary Build Testing -on: - workflow_dispatch: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 5 * * *' - - -jobs: - humble_semi_testing: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: humble - ros_repo: testing - upstream_workspace: Universal_Robots_ROS2_Driver.humble.repos - ref_for_scheduled_build: humble diff --git a/.github/workflows/jazzy-semi-binary-testing.yml b/.github/workflows/jazzy-semi-binary-testing.yml deleted file mode 100644 index b66ce4807..000000000 --- a/.github/workflows/jazzy-semi-binary-testing.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: Jazzy Semi Binary Build Testing -on: - workflow_dispatch: - pull_request: - branches: - - main - push: - branches: - - main - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '13 4 * * *' - -jobs: - jazzy_semi_testing: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: jazzy - ros_repo: testing - upstream_workspace: Universal_Robots_ROS2_Driver.jazzy.repos - ref_for_scheduled_build: main diff --git a/.github/workflows/rolling-semi-binary-testing.yml b/.github/workflows/rolling-semi-binary-testing.yml deleted file mode 100644 index 0c9507809..000000000 --- a/.github/workflows/rolling-semi-binary-testing.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: Rolling Semi Binary Build Testing -on: - workflow_dispatch: - pull_request: - branches: - - main - push: - branches: - - main - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '13 4 * * *' - -jobs: - rolling_semi_testing: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: rolling - ros_repo: testing - upstream_workspace: Universal_Robots_ROS2_Driver.rolling.repos - ref_for_scheduled_build: main From 7c4212e31379f20cf22e6726a6a22854424d7a18 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 25 Mar 2025 11:29:05 +0100 Subject: [PATCH 3/4] Do not require setting an upstream workspace It could potentially just be empty. With that we can remove the empty not-released files --- .github/workflows/coverage-build.yml | 2 -- .github/workflows/humble-binary-main.yml | 1 - .github/workflows/humble-binary-testing.yml | 1 - .github/workflows/jazzy-binary-main.yml | 1 - .github/workflows/jazzy-binary-testing.yml | 1 - .github/workflows/reusable_ici.yml | 3 ++- .github/workflows/rolling-binary-main.yml | 1 - .github/workflows/rolling-binary-testing.yml | 1 - Universal_Robots_ROS2_Driver-not-released.jazzy.repos | 6 ------ Universal_Robots_ROS2_Driver-not-released.rolling.repos | 6 ------ 10 files changed, 2 insertions(+), 21 deletions(-) delete mode 100644 Universal_Robots_ROS2_Driver-not-released.jazzy.repos delete mode 100644 Universal_Robots_ROS2_Driver-not-released.rolling.repos diff --git a/.github/workflows/coverage-build.yml b/.github/workflows/coverage-build.yml index e152d6f7e..f934aa4d7 100644 --- a/.github/workflows/coverage-build.yml +++ b/.github/workflows/coverage-build.yml @@ -29,8 +29,6 @@ jobs: ur_calibration ur_controllers 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": { diff --git a/.github/workflows/humble-binary-main.yml b/.github/workflows/humble-binary-main.yml index a3a052d98..9f1749184 100644 --- a/.github/workflows/humble-binary-main.yml +++ b/.github/workflows/humble-binary-main.yml @@ -11,5 +11,4 @@ jobs: with: ros_distro: humble ros_repo: main - upstream_workspace: Universal_Robots_ROS2_Driver-not-released.humble.repos ref_for_scheduled_build: humble diff --git a/.github/workflows/humble-binary-testing.yml b/.github/workflows/humble-binary-testing.yml index 4d8434c6a..27b985428 100644 --- a/.github/workflows/humble-binary-testing.yml +++ b/.github/workflows/humble-binary-testing.yml @@ -12,5 +12,4 @@ jobs: with: ros_distro: humble ros_repo: testing - upstream_workspace: Universal_Robots_ROS2_Driver-not-released.humble.repos ref_for_scheduled_build: humble diff --git a/.github/workflows/jazzy-binary-main.yml b/.github/workflows/jazzy-binary-main.yml index 9a5d52e3b..a1c313364 100644 --- a/.github/workflows/jazzy-binary-main.yml +++ b/.github/workflows/jazzy-binary-main.yml @@ -17,5 +17,4 @@ jobs: with: ros_distro: jazzy ros_repo: main - upstream_workspace: Universal_Robots_ROS2_Driver-not-released.jazzy.repos ref_for_scheduled_build: main diff --git a/.github/workflows/jazzy-binary-testing.yml b/.github/workflows/jazzy-binary-testing.yml index e8a0e3a4e..06cf52886 100644 --- a/.github/workflows/jazzy-binary-testing.yml +++ b/.github/workflows/jazzy-binary-testing.yml @@ -17,5 +17,4 @@ jobs: with: ros_distro: jazzy ros_repo: testing - upstream_workspace: Universal_Robots_ROS2_Driver-not-released.jazzy.repos ref_for_scheduled_build: main diff --git a/.github/workflows/reusable_ici.yml b/.github/workflows/reusable_ici.yml index 7c4d36242..572d16c91 100644 --- a/.github/workflows/reusable_ici.yml +++ b/.github/workflows/reusable_ici.yml @@ -12,7 +12,8 @@ on: upstream_workspace: description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.' - required: true + required: false + default: '' type: string ros_distro: description: 'ROS_DISTRO variable for industrial_ci' diff --git a/.github/workflows/rolling-binary-main.yml b/.github/workflows/rolling-binary-main.yml index 3ca974841..948a40622 100644 --- a/.github/workflows/rolling-binary-main.yml +++ b/.github/workflows/rolling-binary-main.yml @@ -17,5 +17,4 @@ jobs: with: ros_distro: rolling ros_repo: main - upstream_workspace: Universal_Robots_ROS2_Driver-not-released.rolling.repos ref_for_scheduled_build: main diff --git a/.github/workflows/rolling-binary-testing.yml b/.github/workflows/rolling-binary-testing.yml index 0d042012e..92a131e31 100644 --- a/.github/workflows/rolling-binary-testing.yml +++ b/.github/workflows/rolling-binary-testing.yml @@ -17,5 +17,4 @@ jobs: with: ros_distro: rolling ros_repo: testing - upstream_workspace: Universal_Robots_ROS2_Driver-not-released.rolling.repos ref_for_scheduled_build: main diff --git a/Universal_Robots_ROS2_Driver-not-released.jazzy.repos b/Universal_Robots_ROS2_Driver-not-released.jazzy.repos deleted file mode 100644 index f1f74842e..000000000 --- a/Universal_Robots_ROS2_Driver-not-released.jazzy.repos +++ /dev/null @@ -1,6 +0,0 @@ -# The not-released files are meant to use upstream packages in binary form whenever possible. -# Packages get added here, if they are not released at all or when the repo's current version -# requires a newer version than the one currently released to the target distributions. -# 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: diff --git a/Universal_Robots_ROS2_Driver-not-released.rolling.repos b/Universal_Robots_ROS2_Driver-not-released.rolling.repos deleted file mode 100644 index f1f74842e..000000000 --- a/Universal_Robots_ROS2_Driver-not-released.rolling.repos +++ /dev/null @@ -1,6 +0,0 @@ -# The not-released files are meant to use upstream packages in binary form whenever possible. -# Packages get added here, if they are not released at all or when the repo's current version -# requires a newer version than the one currently released to the target distributions. -# 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: From 8e9a2045cb77978d38578a123fbc9d5ba9ff673a Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 25 Mar 2025 11:59:51 +0100 Subject: [PATCH 4/4] Add hardware_interface_testing as test_depend for ur_controllers The test_actuator is used in the load tests --- ur_controllers/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/ur_controllers/package.xml b/ur_controllers/package.xml index 1bdd4f76c..c5280d2e2 100644 --- a/ur_controllers/package.xml +++ b/ur_controllers/package.xml @@ -46,6 +46,7 @@ controller_manager ros2_control_test_assets + hardware_interface_testing ament_cmake