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Merged
merged 3 commits into from
Jul 28, 2025
Merged

Use hpp headers from geometry2 #1467

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7960f56
Use hpp headers from geometry2
urfeex Jul 25, 2025
430c096
Add semi-binary-testing workflows for kilted and rolling
urfeex Jul 25, 2025
174429e
Add backwards-compatibility in including tf2_ros headers
urfeex Jul 28, 2025
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21 changes: 21 additions & 0 deletions .github/workflows/kilted-semi-binary-testing.yml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
name: Kilted 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:
kilted_semi_testing:
uses: ./.github/workflows/reusable_ici.yml
with:
ros_distro: kilted
ros_repo: testing
upstream_workspace: Universal_Robots_ROS2_Driver.kilted.repos
ref_for_scheduled_build: main
21 changes: 21 additions & 0 deletions .github/workflows/rolling-semi-binary-testing.yml
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@@ -0,0 +1,21 @@
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
3 changes: 0 additions & 3 deletions ur_calibration/src/calibration_correction.cpp
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Expand Up @@ -47,7 +47,6 @@
#include <memory>
#include <string>

#include "ur_client_library/comm/parser.h"
#include "ur_client_library/comm/pipeline.h"
#include "ur_client_library/comm/producer.h"
#include "ur_client_library/comm/stream.h"
Expand All @@ -57,8 +56,6 @@
#include "ur_robot_driver/urcl_log_handler.hpp"

#include "rclcpp/exceptions/exceptions.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "tf2_ros/transform_listener.h"

namespace fs = std::filesystem;

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6 changes: 3 additions & 3 deletions ur_controllers/include/ur_controllers/force_mode_controller.hpp
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Expand Up @@ -35,16 +35,16 @@
//----------------------------------------------------------------------

#pragma once
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <array>
#include <memory>

#include <controller_interface/controller_interface.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <realtime_tools/realtime_buffer.hpp>
#include <rclcpp/rclcpp.hpp>
#include <realtime_tools/realtime_buffer.hpp>
#include <std_srvs/srv/trigger.hpp>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>
#include <ur_msgs/srv/set_force_mode.hpp>

#include "ur_controllers/force_mode_controller_parameters.hpp"
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