Add Kilted Kaiju (backport #133) (#139)

mergify[bot] · web-flow · commit e2d445b3ff51 · 2025-05-12T22:07:07.000+02:00
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -19,5 +19,4 @@ jobs:
     with:
       ros_distro: humble
       ref: humble
-      ros2_repo_branch: humble
       os_name: ubuntu-22.04
diff --git a/.github/workflows/jazzy-compatibility-build.yml b/.github/workflows/jazzy-compatibility-build.yml
diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml
@@ -19,6 +19,5 @@ jobs:
     with:
       ros_distro: jazzy
       ref: jazzy
-      ros2_repo_branch: jazzy
       os_name: ubuntu-latest
       container: ubuntu:24.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [kilted, rolling]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
@@ -25,7 +25,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [kilted, rolling]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-compatibility-build.yml b/.github/workflows/rolling-compatibility-build.yml
@@ -22,10 +22,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy]
-        ROS_REPO: [testing]
+        ROS_DISTRO: [humble, jazzy, kilted]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: ${{ matrix.ROS_REPO }}
+      ros_repo: testing
       upstream_workspace: kinematics_interface.rolling.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [kilted, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
@@ -16,6 +16,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [kilted, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [kilted, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
@@ -24,20 +24,22 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
-        ROS_REPO: [testing]
+        ROS_DISTRO: [kilted, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: ${{ matrix.ROS_REPO }}
+      ros_repo: testing
       upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
   semi_binary_clang:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [kilted, rolling]
     with:
-      # job for building only, no tests -> one distro is enough
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: testing
-      upstream_workspace: kinematics_interface.rolling.repos
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
       additional_debs: clang
       c_compiler: clang
diff --git a/.github/workflows/rolling-semi-binary-downstream-build.yml b/.github/workflows/rolling-semi-binary-downstream-build.yml
@@ -18,11 +18,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
-        ROS_REPO: [testing]
+        ROS_DISTRO: [kilted, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: ${{ matrix.ROS_REPO }}
+      ros_repo: testing
       ref_for_scheduled_build: master
       not_test_build: true
       upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
@@ -23,9 +23,11 @@ jobs:
         - ROS_DISTRO: rolling
           CONTAINER: ubuntu:24.04
           OS_NAME: ubuntu-latest
+        - ROS_DISTRO: kilted
+          CONTAINER: ubuntu:24.04
+          OS_NAME: ubuntu-latest
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
-      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
       os_name: ${{ matrix.OS_NAME }}
       container: ${{ matrix.CONTAINER }}
diff --git a/README.md b/README.md
@@ -1,19 +1,24 @@
 # kinematics_interface
+
 [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![codecov](https://codecov.io/gh/ros-controls/kinematics_interface/branch/humble/graph/badge.svg?token=NS73VKPG9V)](https://codecov.io/gh/ros-controls/kinematics_interface/tree/humble)
 
 This is a ROS 2 package for using C++ kinematics frameworks in the context of ROS 2 control. A kinematics interface is designed to allow ROS 2 controllers to control robots in Cartesian space. This package also contains a basic implementation of the interface using KDL.
 
 ## Contributing
+
 As an open-source project, we welcome each contributor, regardless of their background and experience. Pick a [PR](https://github.com/ros-controls/kinematics_interface/pulls) and review it, or [create your own](https://github.com/ros-controls/kinematics_interface/contribute)!
 If you are new to the project, please read the [contributing guide](https://control.ros.org/rolling/doc/contributing/contributing.html) for more information on how to get started. We are happy to help you with your first contribution.
 
 ## Build status
-ROS2 Distro | Branch | Build status | Documentation | Package Build |
+
+ROS2 Distro | Branch | Build status | Documentation | Package Build
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml) <br> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Rdev__kinematics_interface__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Rdev__kinematics_interface__ubuntu_noble_amd64/) | [API](http://docs.ros.org/en/rolling/p/kinematics_interface/) <br> [API kdl](http://docs.ros.org/en/rolling/p/kinematics_interface_kdl/) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__kinematics_interface__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__kinematics_interface__ubuntu_noble_amd64__binary/)
+**Kilted** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Kdev__kinematics_interface__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Kdev__kinematics_interface__ubuntu_noble_amd64/) | [API](http://docs.ros.org/en/kilted/p/kinematics_interface/) <br> [API kdl](http://docs.ros.org/en/kilted/p/kinematics_interface_kdl/) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kbin_uN64__kinematics_interface__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Kbin_uN64__kinematics_interface__ubuntu_noble_amd64__binary/)
 **Jazzy** | [`jazzy`](https://github.com/ros-controls/kinematics_interface/tree/jazzy) | [![Jazzy Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/jazzy-binary-build.yml) <br> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/jazzy-semi-binary-build.yml) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Jdev__kinematics_interface__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Jdev__kinematics_interface__ubuntu_noble_amd64/) | [API](http://docs.ros.org/en/jazzy/p/kinematics_interface/) <br> [API kdl](http://docs.ros.org/en/jazzy/p/kinematics_interface_kdl/) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__kinematics_interface__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__kinematics_interface__ubuntu_noble_amd64__binary/)
 **Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml) <br> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Hdev__kinematics_interface__ubuntu_jammy_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Hdev__kinematics_interface__ubuntu_jammy_amd64/) | [API](http://docs.ros.org/en/humble/p/kinematics_interface/) <br> [API kdl](http://docs.ros.org/en/humble/p/kinematics_interface_kdl/)  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__kinematics_interface__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__kinematics_interface__ubuntu_jammy_amd64__binary/)
 
 ## Acknowledgements
+
 The project has received major contributions from companies and institutions [listed on control.ros.org](https://control.ros.org/rolling/doc/acknowledgements/acknowledgements.html)
diff --git a/kinematics_interface-not-released.kilted.repos b/kinematics_interface-not-released.kilted.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/kinematics_interface.jazzy.repos b/kinematics_interface.jazzy.repos
@@ -3,7 +3,7 @@ repositories:
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
-    version: master
+    version: jazzy
   realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
diff --git a/kinematics_interface.kilted.repos b/kinematics_interface.kilted.repos
@@ -0,0 +1,18 @@
+repositories:
+  # needed for ros2_control_test_assets
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros2_control_cmake:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_cmake.git
+    version: master
diff --git a/ros_controls.jazzy.repos b/ros_controls.jazzy.repos
@@ -6,8 +6,8 @@ repositories:
   ros-controls/ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
-    version: master
+    version: jazzy
   ros-controls/ros2_controllers:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
-    version: master
+    version: jazzy
diff --git a/ros_controls.kilted.repos b/ros_controls.kilted.repos
@@ -0,0 +1,13 @@
+repositories:
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master
