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Merge branch 'master' into jtc/controller_plugin
Squashed commit of the following: commit 0a9f4b0 Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Date: Thu Nov 16 23:17:20 2023 +0000 Bump ros-tooling/action-ros-ci from 0.3.4 to 0.3.5 (ros-controls#833) commit 3fc0f50 Author: Christoph Fröhlich <[email protected]> Date: Wed Nov 15 20:03:40 2023 +0100 [JTC] Activate update of dynamic parameters (ros-controls#761) commit b13ae5b Author: Christoph Fröhlich <[email protected]> Date: Wed Nov 15 19:14:09 2023 +0100 [JTC] Fix tests when state offset is used (ros-controls#797) * Simplify initialization of states * Rename read_state_from_hardware method * Don't set state_desired in on_activate --------- Co-authored-by: Dr. Denis <[email protected]> commit f1a5397 Author: Christoph Fröhlich <[email protected]> Date: Wed Nov 15 12:18:38 2023 +0100 [JTC] Remove deprecation warnings, set `allow_nonzero_velocity_at_trajectory_end` default false (ros-controls#834) commit 232154d Author: Christoph Fröhlich <[email protected]> Date: Sat Nov 11 15:30:19 2023 +0100 [CI] Update coverage workflows and some cleanup (ros-controls#819) * Add CI coverage jobs for humble and iron * Add all packages to source build * Update repos files * Build ros-control packages from source * use humble job names Co-authored-by: Christoph Fröhlich <[email protected]> --------- Co-authored-by: Bence Magyar <[email protected]> commit 0196eeb Author: Tony Baltovski <[email protected]> Date: Thu Nov 9 17:15:45 2023 -0500 [diff_drive_controller] Fixed typos in diff_drive_controller_parameter.yaml. (ros-controls#822) commit 71ec842 Author: Christoph Fröhlich <[email protected]> Date: Tue Nov 7 13:47:23 2023 +0100 [CI] Re-add humble workflow files and add iron to readme (ros-controls#818) commit 9d4ea6b Author: Bence Magyar <[email protected]> Date: Tue Nov 7 12:01:23 2023 +0000 [diff_drive_controller] Remove non-stamped Twist option (ros-controls#812) commit 5f78fe4 Author: Bence Magyar <[email protected]> Date: Tue Nov 7 12:01:02 2023 +0000 Adjust tests after passing URDF to controllers (ros-controls#817) commit 2c6d7a6 Author: Bence Magyar <[email protected]> Date: Mon Nov 6 18:29:10 2023 +0000 Add iron branch (ros-controls#814) commit f81a82c Author: Christoph Fröhlich <[email protected]> Date: Fri Nov 3 21:18:31 2023 +0100 [CI] Codecov (ros-controls#807) commit c6ecab7 Author: Bence Magyar <[email protected]> Date: Wed Nov 1 21:38:16 2023 +0000 Use pre-commit fork of clang-format instead of local (ros-controls#813) commit 6e46053 Author: Bence Magyar <[email protected]> Date: Tue Oct 31 21:34:10 2023 +0000 3.17.0 commit 822552f Author: Bence Magyar <[email protected]> Date: Tue Oct 31 21:33:40 2023 +0000 Update changelogs commit 8a90b51 Author: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue Oct 31 20:27:04 2023 +0000 Bump ros-tooling/action-ros-ci from 0.3.3 to 0.3.4 (ros-controls#810) commit b65314d Author: Christoph Fröhlich <[email protected]> Date: Thu Oct 26 12:09:27 2023 +0200 Cleanup comments and unnecessary checks (ros-controls#803) commit b36b9d2 Author: Christoph Fröhlich <[email protected]> Date: Tue Oct 24 20:17:28 2023 +0200 [CI] Fix coverage build and codecov stats (ros-controls#804) commit 22356e0 Author: Dr. Denis <[email protected]> Date: Mon Oct 16 18:49:47 2023 +0200 [TestNodes] Optimize output about setup of JTC publisher (ros-controls#792) commit ac291ab Author: Christoph Fröhlich <[email protected]> Date: Mon Oct 16 13:00:53 2023 +0200 Steering controllers library: fix open loop mode (ros-controls#793) * set last*velocity variables for open loop odometry * Make function arguments const * Update function in header file too commit c831b6c Author: Christoph Fröhlich <[email protected]> Date: Mon Oct 16 12:58:44 2023 +0200 Update requirements of state interfaces (ros-controls#798)
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‎.github/mergify.yml‎

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branches:
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- humble
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- name: Backport to iron at reviewers discretion
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conditions:
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- base=master
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- "label=backport-iron"
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actions:
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backport:
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branches:
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- iron
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- name: Ask to resolve conflict
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conditions:
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- conflict

‎.github/workflows/README.md‎

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

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name: Coverage Build - Humble
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on:
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workflow_dispatch:
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push:
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branches:
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- humble
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pull_request:
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branches:
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- humble
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jobs:
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coverage:
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name: coverage build
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runs-on: ubuntu-22.04
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strategy:
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fail-fast: false
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env:
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ROS_DISTRO: humble
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steps:
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: ${{ env.ROS_DISTRO }}
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- uses: actions/checkout@v4
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- uses: ros-tooling/[email protected]
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with:
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target-ros2-distro: ${{ env.ROS_DISTRO }}
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import-token: ${{ secrets.GITHUB_TOKEN }}
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# build all packages listed here
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package-name:
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ackermann_steering_controller
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admittance_controller
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bicycle_steering_controller
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diff_drive_controller
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effort_controllers
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force_torque_sensor_broadcaster
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forward_command_controller
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gripper_controllers
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imu_sensor_broadcaster
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joint_state_broadcaster
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joint_trajectory_controller
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position_controllers
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range_sensor_broadcaster
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steering_controllers_library
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tricycle_controller
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tricycle_steering_controller
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velocity_controllers
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
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colcon-defaults: |
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{
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"build": {
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"mixin": ["coverage-gcc"]
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}
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}
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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- uses: codecov/[email protected]
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with:
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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- uses: actions/[email protected]
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with:
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name: colcon-logs-coverage-humble
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path: ros_ws/log

‎.github/workflows/ci-coverage-build-iron.yml‎

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name: Coverage Build - Iron
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on:
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workflow_dispatch:
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push:
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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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jobs:
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coverage:
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name: coverage build
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runs-on: ubuntu-22.04
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strategy:
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fail-fast: false
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env:
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ROS_DISTRO: iron
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steps:
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: ${{ env.ROS_DISTRO }}
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- uses: actions/checkout@v4
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- uses: ros-tooling/[email protected]
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with:
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target-ros2-distro: ${{ env.ROS_DISTRO }}
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import-token: ${{ secrets.GITHUB_TOKEN }}
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# build all packages listed here
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package-name:
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ackermann_steering_controller
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admittance_controller
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bicycle_steering_controller
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diff_drive_controller
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effort_controllers
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force_torque_sensor_broadcaster
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forward_command_controller
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gripper_controllers
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imu_sensor_broadcaster
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joint_state_broadcaster
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joint_trajectory_controller
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position_controllers
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range_sensor_broadcaster
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steering_controllers_library
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tricycle_controller
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tricycle_steering_controller
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velocity_controllers
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
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colcon-defaults: |
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{
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"build": {
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"mixin": ["coverage-gcc"]
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}
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}
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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- uses: codecov/[email protected]
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with:
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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- uses: actions/[email protected]
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with:
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name: colcon-logs-coverage-iron
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path: ros_ws/log

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

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name: Coverage Build
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on:
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workflow_dispatch:
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branches:
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- master
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push:
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branches:
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- master
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with:
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required-ros-distributions: ${{ env.ROS_DISTRO }}
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- uses: actions/checkout@v4
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- uses: ros-tooling/[email protected].3
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- uses: ros-tooling/[email protected].5
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with:
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target-ros2-distro: ${{ env.ROS_DISTRO }}
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import-token: ${{ secrets.GITHUB_TOKEN }}
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# build all packages listed in the meta package
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# build all packages listed here
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package-name:
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ackermann_steering_controller
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admittance_controller
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bicycle_steering_controller
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diff_drive_controller
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effort_controllers
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force_torque_sensor_broadcaster
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forward_command_controller
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gripper_controllers
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imu_sensor_broadcaster
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joint_state_broadcaster
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joint_trajectory_controller
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position_controllers
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range_sensor_broadcaster
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steering_controllers_library
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tricycle_controller
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tricycle_steering_controller
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velocity_controllers
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
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colcon-defaults: |
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{
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"build": {

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

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name: Iron - ABI Compatibility Check
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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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jobs:
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abi_check:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: ros-industrial/industrial_ci@master
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env:
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ROS_DISTRO: iron
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ROS_REPO: main
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ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
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NOT_TEST_BUILD: true

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

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name: Iron Binary Build - main
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# author: Denis Štogl <[email protected]>
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# description: 'Build & test all dependencies from released (binary) packages.'
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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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- '*feature*'
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- '*feature/**'
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pull_request:
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branches:
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- iron
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- '*feature*'
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- '*feature/**'
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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: '03 1 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.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: ros2_controllers-not-released.iron.repos
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ref_for_scheduled_build: iron

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

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name: Iron Binary Build - testing
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# author: Denis Štogl <[email protected]>
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# description: 'Build & test all dependencies from released (binary) packages.'
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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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- '*feature*'
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- '*feature/**'
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pull_request:
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branches:
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- iron
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- '*feature*'
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- '*feature/**'
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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: '03 1 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.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: ros2_controllers-not-released.iron.repos
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ref_for_scheduled_build: iron

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

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name: Iron RHEL Binary Build
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on:
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workflow_dispatch:
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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 day to detect flakiness and broken dependencies
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- cron: '03 1 * * *'
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jobs:
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iron_rhel_binary:
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name: Iron RHEL binary build
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runs-on: ubuntu-latest
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env:
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ROS_DISTRO: iron
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container: ghcr.io/ros-controls/ros:iron-rhel
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steps:
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- uses: actions/checkout@v4
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with:
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path: src/ros2_controllers
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- run: |
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rosdep update
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rosdep install -iy --from-path src/ros2_controllers
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source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
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colcon build
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colcon test

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

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name: Iron Semi-Binary Build - main
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# description: 'Build & test that compiles the main dependencies from source.'
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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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- '*feature*'
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- '*feature/**'
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pull_request:
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branches:
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- iron
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- '*feature*'
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- '*feature/**'
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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: '33 1 * * *'
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jobs:
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semi_binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.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: ros2_controllers.iron.repos
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ref_for_scheduled_build: iron

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