Add pre-release workflow

.github/workflows/pre-release.yml

@@ -0,0 +1,32 @@
+name: Rolling - 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:
+      - main
+    types:
+      - opened # default
+      - reopened # default
+      - synchronize # default
+      - labeled # also if a label changes
+
+jobs:
+  default:
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [jazzy, kilted] #, rolling] # rolling is currently disabled due to the timeout issues in CI
+
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-prerelease.yml@master
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      # downstream_depth is not set on pull_request event
+      prerelease_downstream_depth: ${{ github.event_name == 'pull_request' && '0' || inputs.downstream_depth }}

CMakeLists.txt

@@ -214,6 +214,7 @@ install(PROGRAMS
 install(
   DIRECTORY resources scripts
   DESTINATION share/${PROJECT_NAME}
+  USE_SOURCE_PERMISSIONS
 )
 
 pluginlib_export_plugin_description_file(hardware_interface mujoco_system_interface_plugin.xml)

package.xml

@@ -10,21 +10,24 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>backward_ros</depend>
+  <depend>control_toolbox</depend>
   <depend>controller_manager</depend>
   <depend>hardware_interface</depend>
   <depend>nav_msgs</depend>
   <depend>libglfw3-dev</depend>
   <depend>pluginlib</depend>
-  <depend>rclcpp</depend>
+  <depend>python3-pykdl</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
-  <depend>control_toolbox</depend>
   <depend>transmission_interface</depend>
-  <depend>backward_ros</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>joint_state_broadcaster</test_depend>
+  <test_depend>robot_state_publisher</test_depend>
   <test_depend>position_controllers</test_depend>
-  <test_depend>gripper_controllers</test_depend>
   <test_depend>rviz2</test_depend>
   <test_depend>urdfdom</test_depend>
   <test_depend>urdfdom_py</test_depend>

scripts/robot_description_to_mjcf.sh

@@ -58,5 +58,10 @@ check_virtual_env
 pkill -f make_mjcf_from_robot_description.py || true
 check_dependencies
 
+# check if the user just wants to install the dependencies or run the script
+if [[ "$*" == *"--install-only"* ]]; then
+    exit 0
+fi
+
 # Get all the arguments of the bash script and then forward it to the make_mjcf_from_robot_description.py script
 exec python3 "$(dirname "$0")/make_mjcf_from_robot_description.py" "$@"

test/CMakeLists.txt

@@ -33,6 +33,6 @@ add_launch_test(src/robot_launch_transmission_test.py
   TIMEOUT 50
 )
 
-add_launch_test(src/robot_launch_tranmission_pid_test.py
+add_launch_test(src/robot_launch_transmission_pid_test.py
   TIMEOUT 50
 )

test/src/robot_launch_test.py

@@ -43,6 +43,15 @@ def generate_test_description_common(use_pid="false", use_mjcf_from_topic="false
     os.environ["USE_MJCF_FROM_TOPIC"] = use_mjcf_from_topic
     os.environ["TEST_TRANSMISSIONS"] = test_transmissions
 
+    if use_mjcf_from_topic == "true":
+        # Setup the venv needed for the make_mjcf_from_robot_description node
+        os.system(
+            os.path.join(
+                get_package_share_directory("mujoco_ros2_control"),
+                "scripts/robot_description_to_mjcf.sh --install-only",
+            )
+        )
+
     launch_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(
@@ -133,7 +142,11 @@ def test_arm(self):
 
         msg = Float64MultiArray()
         msg.data = [0.5, -0.5]
-        pub.publish(msg)
+        # This is needed to account for any missing message subscriptions
+        end_time = time.time() + 2
+        while time.time() < end_time:
+            pub.publish(msg)
+            time.sleep(0.1)
 
         # Allow some time for the message to be processed
         time.sleep(4.0)