Merge branch 'humble' into mergify/bp/humble/pr-1046

ros-controls · Jan 12, 2024 · 3f3e66e · 3f3e66e
2 parents decfe09 + 506887f
commit 3f3e66e
Show file tree

Hide file tree

Showing 76 changed files with 2,229 additions and 496 deletions.
diff --git a/.github/reviewer-lottery.yml b/.github/reviewer-lottery.yml
@@ -13,24 +13,21 @@ groups:
   - name: reviewers
     reviewers: 5
     usernames:
-      - rosterloh
-      - progtologist
+      - aprotyas
       - arne48
+      - bijoua29
+      - christophfroehlich
       - DasRoteSkelett
-      - Serafadam
-      - harderthan
-      - jaron-l
-      - malapatiravi
-      - homalozoa
+      - duringhof
       - erickisos
-      - anfemosa
-      - jackcenter
-      - VX792
-      - mhubii
+      - fmauch
+      - jaron-l
       - livanov93
-      - aprotyas
-      - peterdavidfagan
-      - duringhof
-      - bijoua29
-      - lm2292
       - mcbed
+      - moriarty
+      - olivier-stasse
+      - peterdavidfagan
+      - progtologist
+      - saikishor
+      - VanshGehlot
+      - VX792
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -16,11 +16,11 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/setup-ros@0.3.4
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v3
-      - uses: ros-tooling/action-ros-ci@0.2.6
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/action-ros-ci@0.3.5
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -44,12 +44,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/[email protected].0
+      - uses: codecov/[email protected].4
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3.1.0
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -12,8 +12,8 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v2
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: '3.10'
     - name: Install system hooks

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -5,17 +5,19 @@ on:
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
           linter: [cppcheck, copyright, lint_cmake]
+    env:
+      AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/[email protected]
       with:
-        distribution: rolling
+        distribution: humble
         linter: ${{ matrix.linter }}
         package-name:
           controller_interface
@@ -29,17 +31,17 @@ jobs:
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
           linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/[email protected]
       with:
-        distribution: rolling
+        distribution: humble
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -19,21 +19,21 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_release
           tags: |
@@ -42,7 +42,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           push: true
@@ -59,21 +59,21 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v3
 
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_source
           tags: |
@@ -82,7 +82,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           push: true

diff --git a/.github/workflows/foxy-abi-compatibility.yml b/.github/workflows/foxy-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: foxy

diff --git a/.github/workflows/galactic-abi-compatibility.yml b/.github/workflows/galactic-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: galactic

diff --git a/.github/workflows/galactic-rhel-binary-build.yml b/.github/workflows/galactic-rhel-binary-build.yml
@@ -22,7 +22,7 @@ jobs:
       ROS_DISTRO: galactic
     container: ghcr.io/ros-controls/ros:galactic-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble

diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -21,7 +21,7 @@ jobs:
       ROS_DISTRO: humble
     container: ghcr.io/ros-controls/ros:humble-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
@@ -28,7 +28,7 @@ jobs:
   pre_release:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ github.event.inputs.branch }}
       - name: industrial_ci

diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -58,22 +58,22 @@ jobs:
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Checkout ${{ inputs.ref }} on scheduled build
         if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
         if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3.0.11
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3.0.11
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -26,16 +26,17 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@0.3.4
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@0.2.6
+      - uses: ros-tooling/action-ros-ci@0.3.5
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
+          ref: ${{ inputs.ref }} # otherwise the default branch is used for scheduled workflows
           package-name:
             controller_interface
             controller_manager
@@ -49,7 +50,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v1
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
@@ -6,8 +6,9 @@ on:
 jobs:
   test:
     runs-on: ubuntu-latest
+    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
     steps:
-    - uses: actions/checkout@v1
-    - uses: uesteibar/reviewer-lottery@v2
+    - uses: actions/checkout@v4
+    - uses: uesteibar/reviewer-lottery@v3
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: rolling

diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -22,7 +22,7 @@ jobs:
       ROS_DISTRO: rolling
     container: ghcr.io/ros-controls/ros:rolling-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+
+2.36.0 (2023-12-12)
+-------------------
+
+2.35.1 (2023-11-27)
+-------------------
+
 2.35.0 (2023-11-14)
 -------------------
 

diff --git a/controller_interface/package.xml b/controller_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>2.35.0</version>
+  <version>2.36.1</version>
   <description>Description of controller_interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.36.1 (2024-01-08)
+-------------------
+* [docs] Remove joint_state_controller (`#1263 <https://github.com/ros-controls/ros2_control/issues/1263>`_) (`#1264 <https://github.com/ros-controls/ros2_control/issues/1264>`_)
+* [CI] Increase timeout for controller_managers_srv test (backport `#1224 <https://github.com/ros-controls/ros2_control/issues/1224>`_) (`#1225 <https://github.com/ros-controls/ros2_control/issues/1225>`_)
+* Contributors: mergify[bot]
+
+2.36.0 (2023-12-12)
+-------------------
+* Fix controller sorting issue while loading large number of controllers (`#1180 <https://github.com/ros-controls/ros2_control/issues/1180>`_) (`#1186 <https://github.com/ros-controls/ros2_control/issues/1186>`_)
+* Contributors: mergify[bot]
+
+2.35.1 (2023-11-27)
+-------------------
+
 2.35.0 (2023-11-14)
 -------------------
 * Fix the controller sorting bug when the interfaces are not configured (fixes `#1164 <https://github.com/ros-controls/ros2_control/issues/1164>`_) (`#1165 <https://github.com/ros-controls/ros2_control/issues/1165>`_) (`#1166 <https://github.com/ros-controls/ros2_control/issues/1166>`_)

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -134,6 +134,7 @@ if(BUILD_TESTING)
     controller_manager_msgs
     ros2_control_test_assets
   )
+  set_tests_properties(test_controller_manager_srvs PROPERTIES TIMEOUT 120)
   ament_add_gmock(test_controller_manager_urdf_passing
     test/test_controller_manager_urdf_passing.cpp
   )