Update CI configration to supprot galactic and rolling (#142)

* Make binary build really a build based on released binaries only.

* Add binary builds for galactic and rolling.

* Base coverage build on rolling.

* Add source builds for all distros and correct the branch names there.

* Unify files for better maintability.

* Correct names and add semi-binary build.

* Add CI description into README.md

* Delete ci-ursim.yml

* Update CI with non-released packages setup for each distro.

* Correct spelling.

* Update Universal_Robots_ROS2_Driver-not-released.rolling.repos

* Add ccache to binary build.

* Add ccache into semi-binary build.

* Separate CI configuraitons.

* Update ci-build-binary-foxy.yml

* Update ci-build-binary-galactic.yml

* Update ci-build-binary-rolling.yml

* Update ci-build-binary-foxy.yml

* Update ci-build-binary-galactic.yml

* Remove foxy builds from main CI workflows.

* Remove deprecated code.

* Correct compilation on rolling.

Author: destogl

ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp

@@ -45,7 +45,7 @@ class ScaledJointTrajectoryController : public joint_trajectory_controller::Join
 protected:
   struct TimeData
   {
-    TimeData() : time(0.0), period(0.0), uptime(0.0)
+    TimeData() : time(0.0), period(rclcpp::Duration::from_nanoseconds(0.0)), uptime(0.0)
     {
     }
     rclcpp::Time time;

ur_controllers/src/scaled_joint_trajectory_controller.cpp

@@ -41,7 +41,7 @@ ScaledJointTrajectoryController::on_activate(const rclcpp_lifecycle::State& stat
 {
   TimeData time_data;
   time_data.time = node_->now();
-  time_data.period = rclcpp::Duration(0, 0);
+  time_data.period = rclcpp::Duration::from_nanoseconds(0);
   time_data.uptime = node_->now();
   time_data_.initRT(time_data);
   return JointTrajectoryController::on_activate(state);
@@ -55,7 +55,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update()
     RCLCPP_ERROR(get_node()->get_logger(), "Speed scaling interface not found in hardware interface.");
   }
 
-  if (get_current_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
+  if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE) {
     return controller_interface::return_type::OK;
   }
 
@@ -135,7 +135,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update()
     TimeData time_data;
     time_data.time = node_->now();
     rcl_duration_value_t period = (time_data.time - time_data_.readFromRT()->time).nanoseconds();
-    time_data.period = rclcpp::Duration(scaling_factor_ * period);
+    time_data.period = rclcpp::Duration::from_nanoseconds(scaling_factor_ * period);
     time_data.uptime = time_data_.readFromRT()->uptime + time_data.period;
     rclcpp::Time traj_time = time_data_.readFromRT()->uptime + rclcpp::Duration(period);
     time_data_.writeFromNonRT(time_data);