From f7384a2c4b2237e8b5952483b4d4c3f9a5f24981 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 20 May 2025 10:32:42 +0200 Subject: [PATCH 1/3] Remove unused files from .github folder We don't need all the other workflows on the jazzy branch. Also, repo-specific configuration is only relevant on the default branch. --- .github/ISSUE_TEMPLATE/new_feature.yaml | 28 ---- .github/ISSUE_TEMPLATE/ros2_bug.yaml | 140 ------------------ .github/dependabot.yml | 9 -- .github/dockerursim/.vol/default.installation | Bin 2044 -> 0 bytes .github/dockerursim/.vol/default.variables | 2 - .github/dockerursim/.vol/programs.UR5 | 1 - .github/dockerursim/Dockerfile | 121 --------------- .../dockerursim/build_and_run_docker_ursim.sh | 20 --- .github/dockerursim/safety.conf.UR5 | 101 ------------- .github/dockerursim/ursim/run | 16 -- .github/mergify.yml | 22 --- .github/workflows/coverage-build.yml | 53 ------- .github/workflows/foxy-binary-build.yml | 29 ---- .github/workflows/galactic-binary-build.yml | 26 ---- .github/workflows/humble-binary-main.yml | 14 -- .github/workflows/humble-binary-testing.yml | 15 -- .github/workflows/humble-semi-binary-main.yml | 16 -- .github/workflows/iron-binary-main.yml | 20 --- .github/workflows/issue-states.yml | 15 -- .github/workflows/kilted-binary-main.yml | 20 --- .github/workflows/kilted-binary-testing.yml | 20 --- .github/workflows/kilted-semi-binary-main.yml | 21 --- .github/workflows/rolling-binary-main.yml | 20 --- .github/workflows/rolling-binary-testing.yml | 20 --- .../workflows/rolling-semi-binary-main.yml | 21 --- .github/workflows/update-ci.yml | 42 ------ 26 files changed, 812 deletions(-) delete mode 100644 .github/ISSUE_TEMPLATE/new_feature.yaml delete mode 100644 .github/ISSUE_TEMPLATE/ros2_bug.yaml delete mode 100644 .github/dependabot.yml delete mode 100644 .github/dockerursim/.vol/default.installation delete mode 100644 .github/dockerursim/.vol/default.variables delete mode 100755 .github/dockerursim/.vol/programs.UR5 delete mode 100644 .github/dockerursim/Dockerfile delete mode 100755 .github/dockerursim/build_and_run_docker_ursim.sh delete mode 100644 .github/dockerursim/safety.conf.UR5 delete mode 100644 .github/dockerursim/ursim/run delete mode 100644 .github/mergify.yml delete mode 100644 .github/workflows/coverage-build.yml delete mode 100644 .github/workflows/foxy-binary-build.yml delete mode 100644 .github/workflows/galactic-binary-build.yml delete mode 100644 .github/workflows/humble-binary-main.yml delete mode 100644 .github/workflows/humble-binary-testing.yml delete mode 100644 .github/workflows/humble-semi-binary-main.yml delete mode 100644 .github/workflows/iron-binary-main.yml delete mode 100644 .github/workflows/issue-states.yml delete mode 100644 .github/workflows/kilted-binary-main.yml delete mode 100644 .github/workflows/kilted-binary-testing.yml delete mode 100644 .github/workflows/kilted-semi-binary-main.yml delete mode 100644 .github/workflows/rolling-binary-main.yml delete mode 100644 .github/workflows/rolling-binary-testing.yml delete mode 100644 .github/workflows/rolling-semi-binary-main.yml delete mode 100644 .github/workflows/update-ci.yml diff --git a/.github/ISSUE_TEMPLATE/new_feature.yaml b/.github/ISSUE_TEMPLATE/new_feature.yaml deleted file mode 100644 index 8286d359a..000000000 --- a/.github/ISSUE_TEMPLATE/new_feature.yaml +++ /dev/null @@ -1,28 +0,0 @@ -name: New feature -description: New feature to be suggested -title: "[FEATURE NAME]" -labels: ["enhancement"] - -body: - - type: textarea - id: description - attributes: - label: Feature summary - value: | - *Short introduction to the feature and why it should be implemented* - - *Followed by a longer description* - - ### Related issues - *Links to related issues internal or external to this repo* - - ### Tasks - *To complete this issue involves* - - [ ] Implement the feature - - [ ] Make documentation - - [ ] Make Unit test - - [ ] Make example - - [ ] Test on real hardware - - validations: - required: true diff --git a/.github/ISSUE_TEMPLATE/ros2_bug.yaml b/.github/ISSUE_TEMPLATE/ros2_bug.yaml deleted file mode 100644 index 9e821b69d..000000000 --- a/.github/ISSUE_TEMPLATE/ros2_bug.yaml +++ /dev/null @@ -1,140 +0,0 @@ -name: ROS2 Issue Report -description: File a ROS2 related issue report -title: "Issue name" - -body: - - type: markdown - attributes: - value: | - Thanks for taking the time to fill out this bug report. Before submitting the bug, please first search on the [issue track](../) before creating one. - - Please fill out the following as much as possible, to help us reproducing the problem. - Alternatively, if you do not want to share the issue publicly, send a email to ROS@universal-robots.com with the same information. - - - type: input - id: ros-driver-version - attributes: - label: Affected ROS2 Driver version(s) - validations: - required: true - - - type: dropdown - id: ros-distribution - attributes: - label: Used ROS distribution. - multiple: true - options: - - Foxy - - Galactic - - Humble - - Iron - - Rolling - - Other - validations: - required: true - - - type: dropdown - id: ros-platform - attributes: - label: Which combination of platform is the ROS driver running on. - multiple: true - options: - - Ubuntu Linux with standard kernel - - Ubuntu Linux with lowlatency kernel - - Ubuntu Linux with realtime patch - - Linux in a virtual machine - - Docker - - Windows using WSL2 - - Windows - - Other Linux system - - Mac - - Other - validations: - required: true - - - type: dropdown - id: ros-driver-install - attributes: - label: How is the UR ROS2 Driver installed. - options: - - From binary packets - - Build the driver from source and using the UR Client Library from binary - - Build both the ROS driver and UR Client Library from source - validations: - required: true - - - type: dropdown - id: robot-platform - attributes: - label: Which robot platform is the driver connected to. - multiple: true - options: - - UR CB3 robot - - UR E-series robot - - Real robot - - URSim in docker - - URSim in a virtual machine - - URSim in linux - validations: - required: true - - - type: input - id: robot-sw-version - attributes: - label: Robot SW / URSim version(s) - validations: - required: true - - - type: dropdown - id: headless - attributes: - label: How is the ROS driver used. - multiple: true - options: - - Headless without using the teach pendant - - Through the robot teach pendant using External Control URCap - - Others - validations: - required: true - - - type: textarea - id: details - attributes: - label: Issue details - description: This part is important in order for us to understand the problem and to clarify the severity of the issue. - value: | - # Summary - *Short introduction to the issue and how it impact you and why* - - ## Issue details - *Detailed description help us understand the problem. Code are welcome!* - - ## Steps to Reproduce - *Make simple example to reproduce the issue. Try to remove dependencies to other hardware and software components, if it is possible.* - - ## Expected Behavior - *What did you expect and why?* - - ## Actual Behavior - *What did you observe? If possible please attach relevant information.* - - # Workaround Suggestion - *If a workaround has been found, you are welcome to share it.* - validations: - required: true - - - type: textarea - id: logs - attributes: - label: Relevant log output - description: Please copy and paste any relevant log output. For the output to be usable, please copy the complete output of the shell where you launch the driver. This will be automatically formatted into code, so no need for backticks. - render: shell - - - type: checkboxes - id: terms - attributes: - label: Accept Public visibility - description: By submitting this issue, you agree to publicly share this information on the github [issue track](../) - options: - - label: I agree to make this context public - required: true diff --git a/.github/dependabot.yml b/.github/dependabot.yml deleted file mode 100644 index aa53db50b..000000000 --- a/.github/dependabot.yml +++ /dev/null @@ -1,9 +0,0 @@ -# Update actions in workflows weekly - -version: 2 - -updates: - - package-ecosystem: "github-actions" - directory: "/" - schedule: - interval: "weekly" diff --git a/.github/dockerursim/.vol/default.installation b/.github/dockerursim/.vol/default.installation deleted file mode 100644 index 0f85fab8898d0fa7ca7af0fc5ff06085a077d2ef..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 2044 zcmV!14fXAwbHz@JBs>D0`yo@mRmOk+?n}v%cT%q+? z-5@{4s=_JtX9dpFDL)^2FHA=`wZwU6KJq_WWaJ%tlS z0~DnK5I$r>T)6_=>?m=IU^3duH+<^a=lPr#G5QOpbRExhb5D5%)M|&rCFUy%v-(#8 zq;ee61!fkBaVQ2*Z!3TEQ)oxW@LZs9+c3H{)-)_8;4>1Ianxs~RC(oA@ZQhvZ`;ay zuV<(3S*_=1%l82SlVP324d*dF--Y_k zmEuBRPecB_9R0S1f9#YqChmNSesnh~Hhxq`nnM2{&AQ*$?|c20$^U!cF6f$_mAlzt zdGv@O>4JO=vaK(WkfmwX!(vG{{24LGqyqGXva#yG9SOyqp(^WSyCE-Q)fBhH_wJKm zjiJfbP20(66FBvZ)tSo`-BC>47{Kmt{!7>4lVSLXV!lLs>`lWQ1;ZN*$)5|7n%2#z z8T%iY26q_o1kP1i@WF{Hi831O(i~0^nB7B;lD3Pz8~Vf0Bf-x(35d^>`QD15Fy2rW zD6WsA73N)2#w3z;{p4kFG&&tvflX1WTUzlrMC9q+ckR~ zG(ek<-P27xv<$P~$49)QZXJR=Qq?f!q`!;FLPKoY>t09S2qbu5bOx4fcY0`JSe}V{ zw(gWMRUwSJuSUkGTaTsDBrPoD2Xo9h3AeF=5)LPJ(Esl}9`zyksheEE56{D5q2E9H!>8;l1RLgW$5me+>7eBQyjQkd6!a*bn>HY_D zrsFiUTxTr|dx?uZk)&57>hzpH1_av#F;8e(K(@jQG5uWQwd@PuF^uOlCIa(q2*U@S zsMtKukz1z`PWz1f6U0qzx!gI=rJD`7Eeo(g*(gc4|*p29ie1)u4w`@g&pQT3bFpw z3Ss2~flO;8s1TDLiQ(3T86f8rtfQ?!RHVkrWV*b%{&+iSN!EK`G41BRIr?62uF#5iZfG@H8`vyJzUbzSTSFRSikjzekbG#nJ#Mm#<>P$v|@i<&H8}=rA1VCiHSEI$2|q zv=h#Ji=1TMl3sGkEh`eFR9jHz^cjneTY9G86BQ$r1aiyM^fU1PLrKU}`0_T#_Sw=b z8$4q69LpID`$NlWD?gqFKu9Qo!ADE794vqfM8T8u94<#MlQAPoNbxg|{ z4*LC}{1LK0iFowO0`IAxq=f_k)iK-3>EE#fHTL=ogr|B~WJjhmVXbTZYFwL5ah-Ej z1KWHpu&u_xw#tERHUzezp9Xf`gWr+;e;?U@QuZ|>*v0jn6gH7%w8N0}3eoBYmF`ky zrnIaJjAHXq?tJk^r`$fB$ks6N{ggbB@ASdcG;|@|%eNR2td-`g|H7WccUe;lvh`X* z4LP<;11(|N9&&mO_Bzdz?})V3%{*tD29d8IP`DR)CLXKMmcIC(qk}J#c2Q`_-#6_M z@kN#K*!UxwkpvY{#wVuT;k zlB=r3u+Ch=QZZKLBYT;8KEBx@1{Bzn!FOefrDX+{(KaDkMEyhTLRzlHB6rj{WcMK) z6k=_Qp&w_!7W%|0ThD_&wG5J42-#7!G@}k(pOT-3Ri@Sf>bs{33E}TxtTOCr1v=VL`C!= zBqG~|W5q%w`f(m8xjm&YSgMeDh$H1IhSA9eQ>}clqEa9{^2%zgmgUxkgmaEtRBTVU zjdJ0vMcm~oU@q5 a$M`BaE{(rYxBT^{5B~!l=mv%DBme+ySOM1n diff --git a/.github/dockerursim/.vol/default.variables b/.github/dockerursim/.vol/default.variables deleted file mode 100644 index 86a46f302..000000000 --- a/.github/dockerursim/.vol/default.variables +++ /dev/null @@ -1,2 +0,0 @@ -# -#Thu May 28 16:20:13 BST 2020 diff --git a/.github/dockerursim/.vol/programs.UR5 b/.github/dockerursim/.vol/programs.UR5 deleted file mode 100755 index cf97b77d6..000000000 --- a/.github/dockerursim/.vol/programs.UR5 +++ /dev/null @@ -1 +0,0 @@ -/ursim/programs.UR5 diff --git a/.github/dockerursim/Dockerfile b/.github/dockerursim/Dockerfile deleted file mode 100644 index 7d3f35849..000000000 --- a/.github/dockerursim/Dockerfile +++ /dev/null @@ -1,121 +0,0 @@ -# MIT License -# -# Original from https://github.com/ahobsonsayers/DockURSim -# Copyright (c) 2019 Arran Hobson Sayers -# -# Permission is hereby granted, free of charge, to any person obtaining a copy -# of this software and associated documentation files (the "Software"), to deal -# in the Software without restriction, including without limitation the rights -# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -# copies of the Software, and to permit persons to whom the Software is -# furnished to do so, subject to the following conditions: -# -# The above copyright notice and this permission notice shall be included in all -# copies or substantial portions of the Software. -# -# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -# SOFTWARE. - -FROM lsiobase/guacgui:latest - -# Set Version Information -ARG BUILD_DATE="15/08/19" -ARG VERSION="5.8.0.10253" -LABEL build_version="URSim Version: ${VERSION} Build Date: ${BUILD_DATE}" -LABEL maintainer="Arran Hobson Sayers" -LABEL MAINTAINER="Arran Hobson Sayers" -ENV APPNAME="URSim" - -# Set Timezone -ARG TZ="Europe/London" -ENV TZ ${TZ} - -# Setup Environment -ENV DEBIAN_FRONTEND noninteractive - -# Set Home Directory -ENV HOME /ursim - -# Set robot model - Can be UR3, UR5 or UR10 -ENV ROBOT_MODEL UR5 - -RUN \ - echo "**** Installing Dependencies ****" && \ - apt-get update && \ - apt-get install -qy --no-install-recommends \ - openjdk-8-jre psmisc && \ - # Change java alternatives so we use openjdk8 (required by URSim) not openjdk11 that comes with guacgui - update-alternatives --install /usr/bin/java java /usr/lib/jvm/java-8-openjdk-amd64/jre/bin/java 10000 - -# Setup JAVA_HOME -ENV JAVA_HOME /usr/lib/jvm/java-8-openjdk-amd64 - -RUN \ - echo "**** Downloading URSim ****" && \ - # Make sure we are in the root - cd / && \ - # Download URSim Linux tar.gz - curl https://s3-eu-west-1.amazonaws.com/ur-support-site/69987/URSim_Linux-5.8.0.10253.tar.gz -o URSim-Linux.tar.gz && \ - #curl https://s3-eu-west-1.amazonaws.com/ur-support-site/54411/URSim_Linux-5.4.2.76197.tar.gz -o URSim-Linux.tar.gz && \ - # Extract tarball - tar xvzf URSim-Linux.tar.gz && \ - #Remove the tarball - rm URSim-Linux.tar.gz && \ - # Rename the URSim folder to just ursim - mv /ursim* /ursim - -RUN \ - echo "**** Installing URSim ****" && \ - # cd to ursim folder - cd /ursim && \ - # Make URControl and all sh files executable - chmod +x ./*.sh ./URControl && \ - # - # Stop install of unnecessary packages and install required ones quietly - sed -i 's|apt-get -y install|apt-get -qy install --no-install-recommends|g' ./install.sh && \ - # Skip xterm command. We dont have a desktop - sed -i 's|tty -s|(exit 0)|g' install.sh && \ - # Skip Check of Java Version as we have the correct installed and the command will fail - sed -i 's|needToInstallJava$|(exit 0)|g' install.sh && \ - # Skip install of desktop shortcuts - we dont have a desktop - sed -i '/for TYPE in UR3 UR5 UR10/,$ d' ./install.sh && \ - # Remove commands that are not relevant on docker as we are root user - sed -i 's|pkexec ||g' ./install.sh && \ - sed -i 's|sudo ||g' ./install.sh && \ - sed -i 's|sudo ||g' ./ursim-certificate-check.sh && \ - # - # Install URSim - ./install.sh && \ - # - echo "Installed URSim" - -RUN \ - echo "**** Clean Up ****" && \ - rm -rf \ - /tmp/* \ - /var/lib/apt/lists/* \ - /var/tmp/* - -# Copy ursim run service script -COPY ursim /etc/services.d/ursim -COPY safety.conf.UR5 /ursim/.urcontrol/ -# Expose ports -# Guacamole web browser viewer -EXPOSE 8080 -# VNC viewer -EXPOSE 3389 -# Modbus Port -EXPOSE 502 -# Interface Ports -EXPOSE 29999 -EXPOSE 30001-30004 - -# Mount Volumes -VOLUME /ursim - -ENTRYPOINT ["/init"] diff --git a/.github/dockerursim/build_and_run_docker_ursim.sh b/.github/dockerursim/build_and_run_docker_ursim.sh deleted file mode 100755 index 9c3cf61bc..000000000 --- a/.github/dockerursim/build_and_run_docker_ursim.sh +++ /dev/null @@ -1,20 +0,0 @@ -#!/bin/bash - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" - -docker network create --subnet=192.168.0.0/16 static_test_net - -docker build ${DIR} -t mydockerursim -docker volume create dockerursim -docker run --name="mydockerursim" -d \ - -e ROBOT_MODEL=UR5 \ - --net static_test_net \ - --ip 192.168.56.101 \ - -p 8080:8080 \ - -p 29999:29999 \ - -p 30001-30004:30001-30004 \ - -v "${DIR}/.vol":/ursim/programs \ - -v dockursim:/ursim \ - --privileged \ - --cpus=1 \ - mydockerursim diff --git a/.github/dockerursim/safety.conf.UR5 b/.github/dockerursim/safety.conf.UR5 deleted file mode 100644 index 908b382f4..000000000 --- a/.github/dockerursim/safety.conf.UR5 +++ /dev/null @@ -1,101 +0,0 @@ -# Beware: This file is auto-generated from PolyScope. -# NOTE: The SafetyParameters section is protected by a CRC checksum, please use the supplied tool - -## SafetyParameters ## -[NormalModeSafetyLimits] -maxTcpSpeed = 1.5 -maxForce = 150.0 -maxElbowSpeed = 1.5 -maxElbowForce = 150.0 -maxStoppingDistance = 0.5 -maxStoppingTime = 0.4 -maxPower = 300.0 -maxMomentum = 25.0 -maxJointSpeed = [3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926] -minJointPosition = [6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254] -maxJointPosition = [0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988] -minJointRevolutions = [-2, -2, -2, -2, -2, -2] -maxJointRevolutions = [1, 1, 1, 1, 1, 1] -plane0 = [0.0, 0.0, 0.0, 0.0, 0] -plane1 = [0.0, 0.0, 0.0, 0.0, 0] -plane2 = [0.0, 0.0, 0.0, 0.0, 0] -plane3 = [0.0, 0.0, 0.0, 0.0, 0] -plane4 = [0.0, 0.0, 0.0, 0.0, 0] -plane5 = [0.0, 0.0, 0.0, 0.0, 0] -plane6 = [0.0, 0.0, 0.0, 0.0, 0] -plane7 = [0.0, 0.0, 0.0, 0.0, 0] -tcpOrientationVector = [0.0, 0.0, 1.0] -maximumTcpOrientationDeviation = 6.2831855 - -[ReducedModeSafetyLimits] -maxTcpSpeed = 0.75 -maxForce = 120.0 -maxElbowSpeed = 0.75 -maxElbowForce = 120.0 -maxStoppingDistance = 0.3 -maxStoppingTime = 0.3 -maxPower = 200.0 -maxMomentum = 10.0 -maxJointSpeed = [3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926, 3.3415926] -minJointPosition = [6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254, 6.2308254] -maxJointPosition = [0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988, 0.05235988] -minJointRevolutions = [-2, -2, -2, -2, -2, -2] -maxJointRevolutions = [1, 1, 1, 1, 1, 1] -plane0 = [0.0, 0.0, 0.0, 0.0, 0] -plane1 = [0.0, 0.0, 0.0, 0.0, 0] -plane2 = [0.0, 0.0, 0.0, 0.0, 0] -plane3 = [0.0, 0.0, 0.0, 0.0, 0] -plane4 = [0.0, 0.0, 0.0, 0.0, 0] -plane5 = [0.0, 0.0, 0.0, 0.0, 0] -plane6 = [0.0, 0.0, 0.0, 0.0, 0] -plane7 = [0.0, 0.0, 0.0, 0.0, 0] -tcpOrientationVector = [0.0, 0.0, 1.0] -maximumTcpOrientationDeviation = 6.2831855 - -[MiscConfiguration] -teach_pendant = 1 -euromap67 = 0 - -[SafetyIOConfiguration] -emergencyStopInputA = 255 -emergencyStopInputB = 255 -reducedModeInputA = 255 -reducedModeInputB = 255 -safeguardStopResetInputA = 0 -safeguardStopResetInputB = 1 -threePositionEnablingInputA = 255 -threePositionEnablingInputB = 255 -operationalModeInputA = 255 -operationalModeInputB = 255 -systemEmergencyStopOutputA = 255 -systemEmergencyStopOutputB = 255 -robotMovingOutputA = 255 -robotMovingOutputB = 255 -robotNotStoppingOutputA = 255 -robotNotStoppingOutputB = 255 -reducedModeOutputA = 255 -reducedModeOutputB = 255 -notReducedModeOutputA = 255 -notReducedModeOutputB = 255 - -[ReducedModeTriggerPlanes] -plane0 = [0.0, 0.0, 0.0, 0.0, 0] -plane1 = [0.0, 0.0, 0.0, 0.0, 0] -plane2 = [0.0, 0.0, 0.0, 0.0, 0] -plane3 = [0.0, 0.0, 0.0, 0.0, 0] -plane4 = [0.0, 0.0, 0.0, 0.0, 0] -plane5 = [0.0, 0.0, 0.0, 0.0, 0] -plane6 = [0.0, 0.0, 0.0, 0.0, 0] -plane7 = [0.0, 0.0, 0.0, 0.0, 0] - -[WorkpieceConfiguration] -toolSpheres = [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]] -toolDirectionInclination = 0.0 -toolDirectionAzimuth = 0.0 - - -## SafetyParameters ## -[Checksum] -safetyParameters = 3478627865 -majorVersion = 5 -minorVersion = 0 diff --git a/.github/dockerursim/ursim/run b/.github/dockerursim/ursim/run deleted file mode 100644 index 5e519019e..000000000 --- a/.github/dockerursim/ursim/run +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/execlineb -P - -s6-envdir -fn -- /var/run/s6/container_environment -importas -i ROBOT_MODEL ROBOT_MODEL - -# Redirect stderr to stdout. -fdmove -c 2 1 - -# Wait until openbox is running -if { s6-svwait -t 10000 -U /var/run/s6/services/openbox/ } - -# Set env -s6-env DISPLAY=:1 - -# Execute URSim -/ursim/start-ursim.sh ${ROBOT_MODEL} diff --git a/.github/mergify.yml b/.github/mergify.yml deleted file mode 100644 index c4b1b7024..000000000 --- a/.github/mergify.yml +++ /dev/null @@ -1,22 +0,0 @@ -pull_request_rules: - - name: Backport to humble branch - conditions: - - base=main - - label=backport-humble - actions: - backport: - branches: - - humble - labels: - - humble - - - name: Backport to iron branch - conditions: - - base=main - - label=backport-iron - actions: - backport: - branches: - - iron - labels: - - iron diff --git a/.github/workflows/coverage-build.yml b/.github/workflows/coverage-build.yml deleted file mode 100644 index f934aa4d7..000000000 --- a/.github/workflows/coverage-build.yml +++ /dev/null @@ -1,53 +0,0 @@ -name: Coverage Build -on: - pull_request: - branches: - - main - -jobs: - coverage: - name: coverage build - runs-on: ubuntu-22.04 - container: - image: ubuntu:noble - strategy: - fail-fast: false - env: - ROS_DISTRO: rolling - ros_version: 2 - steps: - - uses: ros-tooling/setup-ros@v0.7 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - use-ros2-testing: true - - uses: actions/checkout@v4 - - uses: ros-tooling/action-ros-ci@v0.4 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - # build all packages listed in the meta package - package-name: - ur_calibration - ur_controllers - ur_robot_driver - colcon-defaults: | - { - "build": { - "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: false - - uses: codecov/codecov-action@v5 - with: - fail_ci_if_error: true - file: ros_ws/lcov/total_coverage.info - flags: unittests - name: codecov-umbrella - token: ${{ secrets.CODECOV_TOKEN }} - - uses: actions/upload-artifact@v4 - with: - name: colcon-logs-${{ matrix.os }} - path: ros_ws/log diff --git a/.github/workflows/foxy-binary-build.yml b/.github/workflows/foxy-binary-build.yml deleted file mode 100644 index dff558829..000000000 --- a/.github/workflows/foxy-binary-build.yml +++ /dev/null @@ -1,29 +0,0 @@ -name: Foxy Binary Build -on: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '58 11 * * *' - -jobs: - foxy_binary: - name: foxy binary build - runs-on: ubuntu-latest - strategy: - max-parallel: 1 - matrix: - env: - - {ROS_DISTRO: foxy, ROS_REPO: main} - - {ROS_DISTRO: foxy, ROS_REPO: testing} - env: - DOCKER_RUN_OPTS: --network static_test_net - BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' - IMMEDIATE_TEST_OUTPUT: true - steps: - - uses: actions/checkout@v4 - with: - ref: foxy - - name: start ursim - run: | - .github/dockerursim/build_and_run_docker_ursim.sh - - uses: 'ros-industrial/industrial_ci@master' - env: ${{matrix.env}} diff --git a/.github/workflows/galactic-binary-build.yml b/.github/workflows/galactic-binary-build.yml deleted file mode 100644 index b8246561d..000000000 --- a/.github/workflows/galactic-binary-build.yml +++ /dev/null @@ -1,26 +0,0 @@ -name: Galactic Binary Build -on: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 4 * * *' - -jobs: - galactic_binary: - name: galactic binary build - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [galactic] - ROS_REPO: [main, testing] - env: - NOT_TEST_BUILD: true - NOT_TEST_DOWNSTREAM: true - steps: - - uses: actions/checkout@v4 - with: - ref: galactic - - uses: 'ros-industrial/industrial_ci@master' - env: - ROS_DISTRO: ${{ matrix.ROS_DISTRO }} - ROS_REPO: ${{ matrix.ROS_REPO }} diff --git a/.github/workflows/humble-binary-main.yml b/.github/workflows/humble-binary-main.yml deleted file mode 100644 index 9f1749184..000000000 --- a/.github/workflows/humble-binary-main.yml +++ /dev/null @@ -1,14 +0,0 @@ -name: Humble Binary Build Main -on: - workflow_dispatch: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 5 * * *' - -jobs: - humble_binary_main: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: humble - ros_repo: main - ref_for_scheduled_build: humble diff --git a/.github/workflows/humble-binary-testing.yml b/.github/workflows/humble-binary-testing.yml deleted file mode 100644 index 27b985428..000000000 --- a/.github/workflows/humble-binary-testing.yml +++ /dev/null @@ -1,15 +0,0 @@ -name: Humble Binary Build Testing -on: - workflow_dispatch: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 5 * * *' - - -jobs: - humble_binary_testing: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: humble - ros_repo: testing - ref_for_scheduled_build: humble diff --git a/.github/workflows/humble-semi-binary-main.yml b/.github/workflows/humble-semi-binary-main.yml deleted file mode 100644 index 6ba0af5c7..000000000 --- a/.github/workflows/humble-semi-binary-main.yml +++ /dev/null @@ -1,16 +0,0 @@ -name: Humble Semi Binary Build Main -on: - workflow_dispatch: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 5 * * *' - - -jobs: - humble_semi_main: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: humble - ros_repo: main - upstream_workspace: Universal_Robots_ROS2_Driver.humble.repos - ref_for_scheduled_build: humble diff --git a/.github/workflows/iron-binary-main.yml b/.github/workflows/iron-binary-main.yml deleted file mode 100644 index cd70d5602..000000000 --- a/.github/workflows/iron-binary-main.yml +++ /dev/null @@ -1,20 +0,0 @@ -name: Iron Binary Build Main -on: - workflow_dispatch: - pull_request: - branches: - - iron - push: - branches: - - iron - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '13 5 * * *' - -jobs: - iron_binary_main: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: iron - ros_repo: main - ref_for_scheduled_build: iron diff --git a/.github/workflows/issue-states.yml b/.github/workflows/issue-states.yml deleted file mode 100644 index 7954de0fa..000000000 --- a/.github/workflows/issue-states.yml +++ /dev/null @@ -1,15 +0,0 @@ -name: 'Set issue state' - -on: - project_card: - types: [created, edited, moved] - -jobs: - set-state: - runs-on: ubuntu-latest - steps: - - uses: dessant/issue-states@v3 - with: - github-token: ${{ github.token }} - open-issue-columns: 'To do, In progress, Under Review' - closed-issue-columns: 'Done' diff --git a/.github/workflows/kilted-binary-main.yml b/.github/workflows/kilted-binary-main.yml deleted file mode 100644 index 6392e7632..000000000 --- a/.github/workflows/kilted-binary-main.yml +++ /dev/null @@ -1,20 +0,0 @@ -name: Kilted Binary Build Main -on: - workflow_dispatch: - pull_request: - branches: - - main - push: - branches: - - main - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '13 4 * * *' - -jobs: - kilted_binary_main: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: kilted - ros_repo: main - ref_for_scheduled_build: main diff --git a/.github/workflows/kilted-binary-testing.yml b/.github/workflows/kilted-binary-testing.yml deleted file mode 100644 index f1f18450f..000000000 --- a/.github/workflows/kilted-binary-testing.yml +++ /dev/null @@ -1,20 +0,0 @@ -name: Kilted 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: - kilted_binary_testing: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: kilted - ros_repo: testing - ref_for_scheduled_build: main diff --git a/.github/workflows/kilted-semi-binary-main.yml b/.github/workflows/kilted-semi-binary-main.yml deleted file mode 100644 index 4e22a4abf..000000000 --- a/.github/workflows/kilted-semi-binary-main.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: Kilted Semi Binary Build Main -on: - workflow_dispatch: - pull_request: - branches: - - main - push: - branches: - - main - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '13 4 * * *' - -jobs: - kilted_semi_main: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: kilted - ros_repo: main - upstream_workspace: Universal_Robots_ROS2_Driver.kilted.repos - ref_for_scheduled_build: main diff --git a/.github/workflows/rolling-binary-main.yml b/.github/workflows/rolling-binary-main.yml deleted file mode 100644 index 948a40622..000000000 --- a/.github/workflows/rolling-binary-main.yml +++ /dev/null @@ -1,20 +0,0 @@ -name: Rolling Binary Build Main -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_binary_main: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: rolling - ros_repo: main - ref_for_scheduled_build: main diff --git a/.github/workflows/rolling-binary-testing.yml b/.github/workflows/rolling-binary-testing.yml deleted file mode 100644 index 92a131e31..000000000 --- a/.github/workflows/rolling-binary-testing.yml +++ /dev/null @@ -1,20 +0,0 @@ -name: Rolling 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_binary_testing: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: rolling - ros_repo: testing - ref_for_scheduled_build: main diff --git a/.github/workflows/rolling-semi-binary-main.yml b/.github/workflows/rolling-semi-binary-main.yml deleted file mode 100644 index 743918c62..000000000 --- a/.github/workflows/rolling-semi-binary-main.yml +++ /dev/null @@ -1,21 +0,0 @@ -name: Rolling Semi Binary Build Main -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_main: - uses: ./.github/workflows/reusable_ici.yml - with: - ros_distro: rolling - ros_repo: main - upstream_workspace: Universal_Robots_ROS2_Driver.rolling.repos - ref_for_scheduled_build: main diff --git a/.github/workflows/update-ci.yml b/.github/workflows/update-ci.yml deleted file mode 100644 index f304a5899..000000000 --- a/.github/workflows/update-ci.yml +++ /dev/null @@ -1,42 +0,0 @@ -# Auto-update CI tools regularly - -name: CI auto-update - -on: - schedule: - # Run weekly - - cron: '23 5 * * 0' - workflow_dispatch: - -jobs: - ci_auto_update: - name: CI auto-update - runs-on: ubuntu-latest - steps: - # Setup pre-commit - - uses: actions/checkout@v4 - - uses: actions/setup-python@v5 - with: - python-version: 3.10.4 - - name: Install pre-commit - run: pip install pre-commit - - # Run update - - name: Run pre-commit autoupdate - run: pre-commit autoupdate - - # Create pull request - - name: Create pull-request - id: cpr - uses: peter-evans/create-pull-request@v7 - with: - branch: update-ci/pre-commit-autoupdate - delete-branch: true - title: Auto-update pre-commit hooks - committer: github-actions[bot] - author: github-actions[bot] - commit-message: Auto-update pre-commit hooks - labels: CI - - name: Check outputs - if: ${{ steps.cpr.pull-request-number }} - run: echo "Opened pull request ${{ steps.cpr.outputs.pull-request-number }} - ${{ steps.cpr.outputs.pull-request-url }}" From ed89cb42e5e0a622cf9cc08ea754a8bbddacd620 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 20 May 2025 10:36:08 +0200 Subject: [PATCH 2/3] Update jazzy workflows to run on PRs to jazzy branch --- .github/workflows/jazzy-binary-main.yml | 6 +++--- .github/workflows/jazzy-binary-testing.yml | 6 +++--- .github/workflows/jazzy-semi-binary-main.yml | 6 +++--- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/.github/workflows/jazzy-binary-main.yml b/.github/workflows/jazzy-binary-main.yml index a1c313364..e15625e12 100644 --- a/.github/workflows/jazzy-binary-main.yml +++ b/.github/workflows/jazzy-binary-main.yml @@ -3,10 +3,10 @@ on: workflow_dispatch: pull_request: branches: - - main + - jazzy push: branches: - - main + - jazzy schedule: # Run every morning to detect flakiness and broken dependencies - cron: '13 4 * * *' @@ -17,4 +17,4 @@ jobs: with: ros_distro: jazzy ros_repo: main - ref_for_scheduled_build: main + ref_for_scheduled_build: jazzy diff --git a/.github/workflows/jazzy-binary-testing.yml b/.github/workflows/jazzy-binary-testing.yml index 06cf52886..141cfae38 100644 --- a/.github/workflows/jazzy-binary-testing.yml +++ b/.github/workflows/jazzy-binary-testing.yml @@ -3,10 +3,10 @@ on: workflow_dispatch: pull_request: branches: - - main + - jazzy push: branches: - - main + - jazzy schedule: # Run every morning to detect flakiness and broken dependencies - cron: '13 4 * * *' @@ -17,4 +17,4 @@ jobs: with: ros_distro: jazzy ros_repo: testing - ref_for_scheduled_build: main + ref_for_scheduled_build: jazzy diff --git a/.github/workflows/jazzy-semi-binary-main.yml b/.github/workflows/jazzy-semi-binary-main.yml index 006291bf8..649fe12fb 100644 --- a/.github/workflows/jazzy-semi-binary-main.yml +++ b/.github/workflows/jazzy-semi-binary-main.yml @@ -3,10 +3,10 @@ on: workflow_dispatch: pull_request: branches: - - main + - jazzy push: branches: - - main + - jazzy schedule: # Run every morning to detect flakiness and broken dependencies - cron: '13 4 * * *' @@ -18,4 +18,4 @@ jobs: ros_distro: jazzy ros_repo: main upstream_workspace: Universal_Robots_ROS2_Driver.jazzy.repos - ref_for_scheduled_build: main + ref_for_scheduled_build: jazzy From 2970742976501a656a29feccafd3f4392036f50d Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Tue, 20 May 2025 10:36:31 +0200 Subject: [PATCH 3/3] Removed repo files for other distributions --- Universal_Robots_ROS2_Driver.kilted.repos | 49 ---------------------- Universal_Robots_ROS2_Driver.rolling.repos | 49 ---------------------- 2 files changed, 98 deletions(-) delete mode 100644 Universal_Robots_ROS2_Driver.kilted.repos delete mode 100644 Universal_Robots_ROS2_Driver.rolling.repos diff --git a/Universal_Robots_ROS2_Driver.kilted.repos b/Universal_Robots_ROS2_Driver.kilted.repos deleted file mode 100644 index 59ab512a9..000000000 --- a/Universal_Robots_ROS2_Driver.kilted.repos +++ /dev/null @@ -1,49 +0,0 @@ -repositories: - Universal_Robots_Client_Library: - type: git - url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git - version: master - Universal_Robots_ROS2_Description: - type: git - url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git - version: rolling - ur_msgs: - type: git - url: https://github.com/ros-industrial/ur_msgs.git - version: humble-devel - ros2_control: - type: git - url: https://github.com/ros-controls/ros2_control.git - version: master - ros2_controllers: - type: git - url: https://github.com/ros-controls/ros2_controllers - version: master - kinematics_interface: - type: git - url: https://github.com/ros-controls/kinematics_interface.git - version: master - control_msgs: - type: git - url: https://github.com/ros-controls/control_msgs.git - version: master - control_toolbox: - type: git - url: https://github.com/ros-controls/control_toolbox.git - version: ros2-master - realtime_tools: - type: git - url: https://github.com/ros-controls/realtime_tools.git - version: master - moveit2: - type: git - url: https://github.com/moveit/moveit2.git - version: main - moveit_msgs: - type: git - url: https://github.com/moveit/moveit_msgs.git - version: ros2 - srdfdom: - type: git - url: https://github.com/moveit/srdfdom.git - version: ros2 diff --git a/Universal_Robots_ROS2_Driver.rolling.repos b/Universal_Robots_ROS2_Driver.rolling.repos deleted file mode 100644 index 59ab512a9..000000000 --- a/Universal_Robots_ROS2_Driver.rolling.repos +++ /dev/null @@ -1,49 +0,0 @@ -repositories: - Universal_Robots_Client_Library: - type: git - url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git - version: master - Universal_Robots_ROS2_Description: - type: git - url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git - version: rolling - ur_msgs: - type: git - url: https://github.com/ros-industrial/ur_msgs.git - version: humble-devel - ros2_control: - type: git - url: https://github.com/ros-controls/ros2_control.git - version: master - ros2_controllers: - type: git - url: https://github.com/ros-controls/ros2_controllers - version: master - kinematics_interface: - type: git - url: https://github.com/ros-controls/kinematics_interface.git - version: master - control_msgs: - type: git - url: https://github.com/ros-controls/control_msgs.git - version: master - control_toolbox: - type: git - url: https://github.com/ros-controls/control_toolbox.git - version: ros2-master - realtime_tools: - type: git - url: https://github.com/ros-controls/realtime_tools.git - version: master - moveit2: - type: git - url: https://github.com/moveit/moveit2.git - version: main - moveit_msgs: - type: git - url: https://github.com/moveit/moveit_msgs.git - version: ros2 - srdfdom: - type: git - url: https://github.com/moveit/srdfdom.git - version: ros2