Merge branch 'master' into jtc/dynamic_parameters

.github/mergify.yml

@@ -8,6 +8,16 @@ pull_request_rules:
         branches:
           - humble
 
+
+  - name: Backport to iron at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-iron"
+    actions:
+      backport:
+        branches:
+          - iron
+
   - name: Ask to resolve conflict
     conditions:
       - conflict

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

@@ -0,0 +1,65 @@
+name: Coverage Build - Humble
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  coverage:
+    name: coverage build
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: humble
+    steps:
+      - uses: ros-tooling/setup-ros@0.7.0
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/action-ros-ci@0.3.4
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          # build all packages listed here
+          package-name:
+            ackermann_steering_controller
+            admittance_controller
+            bicycle_steering_controller
+            diff_drive_controller
+            effort_controllers
+            force_torque_sensor_broadcaster
+            forward_command_controller
+            gripper_controllers
+            imu_sensor_broadcaster
+            joint_state_broadcaster
+            joint_trajectory_controller
+            position_controllers
+            range_sensor_broadcaster
+            steering_controllers_library
+            tricycle_controller
+            tricycle_steering_controller
+            velocity_controllers
+
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/codecov-action@v3.1.4
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/upload-artifact@v3.1.3
+        with:
+          name: colcon-logs-coverage-humble
+          path: ros_ws/log

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

@@ -0,0 +1,65 @@
+name: Coverage Build - Iron
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+
+jobs:
+  coverage:
+    name: coverage build
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: iron
+    steps:
+      - uses: ros-tooling/setup-ros@0.7.0
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/action-ros-ci@0.3.4
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          # build all packages listed here
+          package-name:
+            ackermann_steering_controller
+            admittance_controller
+            bicycle_steering_controller
+            diff_drive_controller
+            effort_controllers
+            force_torque_sensor_broadcaster
+            forward_command_controller
+            gripper_controllers
+            imu_sensor_broadcaster
+            joint_state_broadcaster
+            joint_trajectory_controller
+            position_controllers
+            range_sensor_broadcaster
+            steering_controllers_library
+            tricycle_controller
+            tricycle_steering_controller
+            velocity_controllers
+
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/codecov-action@v3.1.4
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/upload-artifact@v3.1.3
+        with:
+          name: colcon-logs-coverage-iron
+          path: ros_ws/log

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

@@ -1,8 +1,6 @@
 name: Coverage Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   push:
     branches:
       - master
@@ -23,7 +21,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.3
+      - uses: ros-tooling/action-ros-ci@0.3.4
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -48,7 +46,7 @@ jobs:
             velocity_controllers
 
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-defaults: |
             {
               "build": {

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

@@ -0,0 +1,20 @@
+name: Iron - ABI Compatibility Check
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: iron
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true

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

@@ -0,0 +1,30 @@
+name: Iron Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: main
+      upstream_workspace: ros2_controllers-not-released.iron.repos
+      ref_for_scheduled_build: iron

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

@@ -0,0 +1,30 @@
+name: Iron Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: testing
+      upstream_workspace: ros2_controllers-not-released.iron.repos
+      ref_for_scheduled_build: iron

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

@@ -0,0 +1,28 @@
+name: Iron RHEL Binary Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_rhel_binary:
+    name: Iron RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-rhel
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_controllers
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test

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

@@ -0,0 +1,29 @@
+name: Iron Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: main
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron

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

@@ -0,0 +1,29 @@
+name: Iron Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: testing
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron

.github/workflows/iron-source-build.yml

@@ -0,0 +1,19 @@
+name: Iron Source Build
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: iron
+      ref: iron
+      ros2_repo_branch: iron