Controller Manager recovery from invalid URDF errors

.github/dependabot.yml

@@ -18,3 +18,17 @@ updates:
     schedule:
       interval: "weekly"
     target-branch: "humble"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "jazzy"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "kilted"

.github/mergify.yml

@@ -8,14 +8,23 @@ pull_request_rules:
         branches:
           - humble
 
-  - name: Backport to iron at reviewers discretion
+  - name: Backport to jazzy at reviewers discretion
     conditions:
       - base=master
-      - "label=backport-iron"
+      - "label=backport-jazzy"
     actions:
       backport:
         branches:
-          - iron
+          - jazzy
+
+  - name: Backport to kilted at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-kilted"
+    actions:
+      backport:
+        branches:
+          - kilted
 
   - name: Ask to resolve conflict
     conditions:

.github/workflows/docker.yml

@@ -22,7 +22,7 @@ jobs:
         uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Log in to the Container registry
         uses: docker/login-action@v3
@@ -62,7 +62,7 @@ jobs:
         uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
 
       - name: Log in to the Container registry
         uses: docker/login-action@v3

.github/workflows/humble-abi-compatibility.yml

@@ -9,15 +9,16 @@ on:
       - '**.h'
       - '**.cpp'
       - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-abi-compatibility.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.humble.repos'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on humble branch
+  # cancel previous runs of the same workflow, except for pushes on given branches
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   abi_check:

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

@@ -4,38 +4,28 @@ name: Humble Binary Build
 
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - humble
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '.github/workflows/humble-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_control-not-released.humble.repos'
-  push:
+  pull_request: &event
     branches:
       - humble
     paths:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
       - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.humble.repos'
+  push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
+    - cron: '03 1 * * MON-FRI'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on humble branch
+  # cancel previous runs of the same workflow, except for pushes on given branches
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   binary:

.github/workflows/humble-check-docs.yml

@@ -8,7 +8,14 @@ on:
     paths:
       - '**.rst'
       - '**.md'
+      - '**.jpg'
+      - '**.jpeg'
+      - '**.png'
+      - '**.svg'
+      - '**.yml'
       - '**.yaml'
+      - '!.github/**' # exclude yaml files in .github directory
+      - '.github/workflows/humble-check-docs.yml'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

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

@@ -1,37 +1,26 @@
 name: Coverage Build - Humble
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - humble
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '.github/workflows/humble-coverage-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_control.humble.repos'
-      - 'codecov.yml'
-  pull_request:
+  pull_request: &event
     branches:
       - humble
     paths:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
       - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-coverage-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.humble.repos'
       - 'codecov.yml'
+  push: *event
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on humble branch
+  # cancel previous runs of the same workflow, except for pushes on given branches
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   coverage_humble:

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

@@ -1,4 +1,4 @@
-name: Debian Humble Source Build
+name: Humble - Debian Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,29 +9,26 @@ on:
       - '**.h'
       - '**.cpp'
       - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-debian-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
+    - cron: '03 1 * * MON-FRI'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on humble branch
+  # cancel previous runs of the same workflow, except for pushes on given branches
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
-  debian_source_build:
+  debian_semi_binary_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [humble]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
-      ref_for_scheduled_build: master
+      ros_distro: humble
+      upstream_workspace: ros2_control.humble.repos
+      ref_for_scheduled_build: humble
       skip_packages: rqt_controller_manager
       skip_packages_test: controller_manager_msgs

.github/workflows/humble-pre-commit.yml

@@ -5,6 +5,9 @@ on:
   pull_request:
     branches:
       - humble
+  push:
+    branches:
+      - humble
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.github/workflows/humble-pre-release.yml

@@ -0,0 +1,28 @@
+name: Humble - pre-release
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+    inputs:
+      downstream_depth:
+        description: 'The depth of the depends-on tree to be included in the overlay workspace (-1 implies unlimited, default: 0)'
+        required: false
+        default: 0
+        type: number
+  pull_request:
+    branches:
+      - humble
+    types:
+      - opened # default
+      - reopened # default
+      - synchronize # default
+      - labeled # also if a label changes
+
+jobs:
+  default:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-prerelease.yml@master
+    with:
+      ros_distro: humble
+      # downstream_depth is not set on pull_request event
+      prerelease_downstream_depth: ${{ github.event_name == 'pull_request' && '0' || inputs.downstream_depth }}
+      prerelease_exclude_pkg: ackermann_steering_controller admittance_controller bicycle_steering_controller chained_filter_controller diff_drive_controller effort_controllers force_torque_sensor_broadcaster forward_command_controller gpio_controllers gps_sensor_broadcaster imu_sensor_broadcaster joint_state_broadcaster joint_trajectory_controller mecanum_drive_controller motion_primitives_controllers omni_wheel_drive_controller parallel_gripper_controller pid_controller pose_broadcaster position_controllers range_sensor_broadcaster ros2_controllers ros2_controllers_test_nodes rqt_joint_trajectory_controller steering_controllers_library tricycle_controller tricycle_steering_controller velocity_controllers gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests

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

@@ -1,4 +1,4 @@
-name: RHEL Humble Semi-Binary Build
+name: Humble - RHEL Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,18 +9,19 @@ on:
       - '**.h'
       - '**.cpp'
       - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-rhel-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
+    - cron: '03 1 * * MON-FRI'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on humble branch
+  # cancel previous runs of the same workflow, except for pushes on given branches
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   rhel_semi_binary_build:

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

@@ -4,38 +4,28 @@ name: Humble Semi-Binary Build
 
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - humble
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '.github/workflows/humble-semi-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_control.humble.repos'
-  push:
+  pull_request: &event
     branches:
       - humble
     paths:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
       - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.humble.repos'
+  push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
+    - cron: '03 1 * * MON-FRI'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on humble branch
+  # cancel previous runs of the same workflow, except for pushes on given branches
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   semi-binary:
@@ -44,10 +34,9 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [humble]
-        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: ${{ matrix.ROS_REPO }}
+      ros_repo: testing
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
   semi-binary-clang:

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

@@ -35,17 +35,3 @@ jobs:
       # we test the downstream packages, which are part of our organization
       downstream_workspace: ros_controls.humble.repos
       not_test_downstream: false
-  build-downstream-3rd-party:
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
-    with:
-      ros_distro: humble
-      ros_repo: testing
-      ref_for_scheduled_build: humble
-      upstream_workspace: ros2_control.humble.repos
-      # we don't test target_workspace, we just build it
-      not_test_build: true
-      # we don't test the downstream packages, which are outside of our organization
-      downstream_workspace: | # build also the ros2_control packages
-        ros_controls.humble.repos
-        downstream.humble.repos
-      not_test_downstream: true