Merge branch 'master' into update/controller_sorting_algorithm

ros-controls · Feb 15, 2024 · 5ee4d36 · 5ee4d36
2 parents f23139c + 5f9be40
commit 5ee4d36
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Showing 52 changed files with 234 additions and 591 deletions.
diff --git a/.github/reviewer-lottery.yml b/.github/reviewer-lottery.yml
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -47,7 +47,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/[email protected].0
+      - uses: actions/[email protected].1
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
@@ -0,0 +1,29 @@
+name: Humble Binary Build
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control-not-released.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Humble Build
+name: Debian Humble Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,29 +10,15 @@ on:
 
 
 jobs:
-  humble_debian:
-    name: Humble debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-      skip-packages-build: rqt_controller_manager
-      skip-packages-test: rqt_controller_manager controller_manager_msgs
-    container: ghcr.io/ros-controls/ros:humble-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+      skip_packages_test: controller_manager_msgs
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Humble Binary Build
+name: RHEL Humble Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,34 +9,14 @@ on:
     - cron: '03 1 * * *'
 
 jobs:
-  humble_rhel_binary:
-    name: Humble RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-      skip-packages: rqt_controller_manager
-    container: ghcr.io/ros-controls/ros:humble-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_control || true
-      - name: Build workspace
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-          colcon test-result --verbose
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build-testing.yml
diff --git a/...ub/workflows/humble-binary-build-main.yml → ...ub/workflows/humble-semi-binary-build.yml b/...ub/workflows/humble-binary-build-main.yml → ...ub/workflows/humble-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Humble Binary Build - main
+name: Humble Semi-Binary Build
 # author: Denis Štogl <[email protected]>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -16,9 +16,14 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: ros2_control-not-released.humble.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
     with:
       ros_distro: humble
       ref: humble

diff --git a/.github/workflows/iron-binary-build-main.yml → .github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build-main.yml → .github/workflows/iron-binary-build.yml
@@ -1,4 +1,4 @@
-name: Iron Binary Build - main
+name: Iron Binary Build
 # author: Denis Štogl <[email protected]>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -16,9 +16,14 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [iron]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: iron
-      ros_repo: main
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control-not-released.iron.repos
       ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Iron Build
+name: Debian Iron Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,29 +10,15 @@ on:
 
 
 jobs:
-  iron_debian:
-    name: Iron debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-      skip-packages-build: rqt_controller_manager
-      skip-packages-test: rqt_controller_manager controller_manager_msgs
-    container: ghcr.io/ros-controls/ros:iron-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+      skip_packages_test: controller_manager_msgs