Add filtering capability and publishers for additional frames to fts broadcaster

.github/dependabot.yml

@@ -0,0 +1,13 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for all configuration options:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"

.github/reviewer-lottery.yml

@@ -14,29 +14,23 @@ groups:
     reviewers: 5
     usernames:
       - rosterloh
-      - kellyprankin
       - progtologist
       - arne48
       - DasRoteSkelett
-      - a10263790
       - Serafadam
       - harderthan
       - jaron-l
       - malapatiravi
-      - erickisos
-      - Briancbn
-      - TomoyaFujita2016
       - homalozoa
+      - erickisos
       - anfemosa
       - jackcenter
       - VX792
       - mhubii
       - livanov93
       - aprotyas
       - peterdavidfagan
-      - UsamaHamayun1
       - duringhof
       - bijoua29
-      - kasiceo
       - lm2292
       - mcbed

.github/workflows/README.md

@@ -0,0 +1,24 @@
+## Build status
+
+ROS2 Distro | Branch | Build status | Documentation | Released packages
+:---------: | :----: | :----------: | :-----------: | :---------------:
+**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-testing.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-testing.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-source-build.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-testing.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-testing.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-source-build.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
+**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_controllers/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-main.yml?branch=galactic) <br /> [![Galactic Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-testing.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-main.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-testing.yml?branch=galactic) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#galactic)
+**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_controllers/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-main.yml?branch=foxy) <br /> [![Foxy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-testing.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-main.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-testing.yml?branch=foxy) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#foxy)
+
+
+### Explanation of different build types
+
+**NOTE**: There are three build stages checking current and future compatibility of the package.
+
+1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
+
+   Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
+
+1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
+   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
+
+   Uses repos file: `$NAME$.repos`
+
+1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.

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

@@ -0,0 +1,48 @@
+name: Coverage Build
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  coverage:
+    name: coverage build
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: rolling
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          # build all packages listed in the meta package
+          package-name:
+            diff_drive_controller
+
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers-not-released.${{ 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/[email protected]
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/[email protected]
+        with:
+          name: colcon-logs-coverage-rolling
+          path: ros_ws/log

.github/workflows/ci-format.yml

@@ -4,23 +4,19 @@
 name: Format
 
 on:
-  workflow_dispatch:
   pull_request:
-  push:
-    branches:
-      - master
 
 jobs:
   pre-commit:
     name: Format
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
-    - uses: actions/setup-python@v2
+    - uses: actions/setup-python@v4.5.0
       with:
-        python-version: 3.9.7
+        python-version: '3.10'
     - name: Install system hooks
-      run: sudo apt install -qq clang-format-11 cppcheck
-    - uses: pre-commit/action@v2.0.3
+      run: sudo apt install -qq clang-format-14 cppcheck
+    - uses: pre-commit/action@v3.0.0
       with:
         extra_args: --all-files --hook-stage manual

.github/workflows/ci-ros-lint.yml

@@ -9,49 +9,54 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          linter: [copyright, cppcheck, lint_cmake]
+          linter: [cppcheck, copyright, lint_cmake]
     steps:
-    - uses: actions/checkout@v1
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/setup-ros@0.6.1
     - uses: ros-tooling/[email protected]
       with:
-        distribution: galactic
+        distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
-            diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            joint_state_broadcaster
-            joint_trajectory_controller
-            gripper_controllers
-            position_controllers
-            ros2_controllers
-            ros2_controllers_test_nodes
-            velocity_controllers
+          diff_drive_controller
+          effort_controllers
+          force_torque_sensor_broadcaster
+          forward_command_controller
+          joint_state_broadcaster
+          joint_trajectory_controller
+          gripper_controllers
+          position_controllers
+          ros2_controllers
+          ros2_controllers_test_nodes
+          tricycle_controller
+          velocity_controllers
 
-  ament_lint_cpplint:
-    name: ament_lint_cpplint
+
+  ament_lint_100:
+    name: ament_${{ matrix.linter }}
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
+      matrix:
+          linter: [cpplint]
     steps:
-    - uses: actions/checkout@v1
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/setup-ros@0.6.1
     - uses: ros-tooling/[email protected]
       with:
-        distribution: galactic
+        distribution: rolling
         linter: cpplint
-        arguments: "--filter=-whitespace/newline"
+        arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
-            diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            joint_state_broadcaster
-            joint_trajectory_controller
-            gripper_controllers
-            position_controllers
-            ros2_controllers
-            ros2_controllers_test_nodes
-            velocity_controllers
+          diff_drive_controller
+          effort_controllers
+          force_torque_sensor_broadcaster
+          forward_command_controller
+          joint_state_broadcaster
+          joint_trajectory_controller
+          gripper_controllers
+          position_controllers
+          ros2_controllers
+          ros2_controllers_test_nodes
+          tricycle_controller
+          velocity_controllers

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

@@ -1,18 +1,20 @@
-name: ABI Compatibility Check
+name: Foxy - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
 
 jobs:
-# TODO(andyz): disabled because it started failing at the transition to Humble
-#  abi_check:
-#    runs-on: ubuntu-latest
-#    steps:
-#      - uses: actions/checkout@v3
-#      - uses: ros-industrial/industrial_ci@master
-#        env:
-#          ROS_DISTRO: foxy
-#          ROS_REPO: main
-#          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-#          NOT_TEST_BUILD: true
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: foxy
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true

.github/workflows/foxy-binary-build.yml → .github/workflows/foxy-binary-build-main.yml

@@ -1,7 +1,11 @@
-name: Foxy Binary Build
-# Build & test all dependencies from released (binary) packages.
+name: Foxy Binary Build - main
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
@@ -10,12 +14,13 @@ on:
       - foxy
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '08 18 * * *'
+    - cron: '03 1 * * *'
 
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: foxy
+      ros_repo: main
       upstream_workspace: ros2_controllers-not-released.foxy.repos
       ref_for_scheduled_build: foxy

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

@@ -0,0 +1,26 @@
+name: Foxy Binary Build - testing
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  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: foxy
+      ros_repo: testing
+      upstream_workspace: ros2_controllers-not-released.foxy.repos
+      ref_for_scheduled_build: foxy

.github/workflows/foxy-semi-binary-build.yml → .github/workflows/foxy-semi-binary-build-main.yml

@@ -1,7 +1,10 @@
-name: Foxy Semi-Binary Build
-# Build & test that compiles the main dependencies from source.
+name: Foxy Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
@@ -10,12 +13,13 @@ on:
       - foxy
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '13 18 * * *'
+    - cron: '33 1 * * *'
 
 jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: foxy
+      ros_repo: main
       upstream_workspace: ros2_controllers.foxy.repos
       ref_for_scheduled_build: foxy

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

@@ -0,0 +1,25 @@
+name: Foxy Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  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: foxy
+      ros_repo: testing
+      upstream_workspace: ros2_controllers.foxy.repos
+      ref_for_scheduled_build: foxy