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]
+
+    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 }}

package.xml

@@ -10,18 +10,22 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>backward_ros</depend>
+  <depend>control_toolbox</depend>
   <depend>controller_manager</depend>
   <depend>hardware_interface</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>rviz2</test_depend>
   <test_depend>urdfdom</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/src/robot_launch_test.py

@@ -43,6 +43,13 @@ 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
 
+    # 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(