Merge branch 'master' into jtc/angle_wraparound_trajectory

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

@@ -55,12 +55,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.5
+      - uses: codecov/codecov-action@v4.0.1
         with:
           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-coverage-humble
           path: ros_ws/log

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

@@ -55,12 +55,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.5
+      - uses: codecov/codecov-action@v4.0.1
         with:
           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-coverage-iron
           path: ros_ws/log

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

@@ -55,12 +55,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.5
+      - uses: codecov/codecov-action@v4.0.1
         with:
           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-coverage-rolling
           path: ros_ws/log

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

@@ -2,6 +2,30 @@ name: ROS Lint
 on:
   pull_request:
 
+env:
+  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
+    pid_controller
+    position_controllers
+    range_sensor_broadcaster
+    ros2_controllers
+    ros2_controllers_test_nodes
+    rqt_joint_trajectory_controller
+    steering_controllers_library
+    tricycle_controller
+    tricycle_steering_controller
+    velocity_controllers
+
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
@@ -19,28 +43,7 @@ jobs:
       with:
         distribution: rolling
         linter: ${{ matrix.linter }}
-        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
-          pid_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
+        package-name: ${{ env.package-name }}
 
 
   ament_lint_100:
@@ -58,25 +61,4 @@ jobs:
         distribution: rolling
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
-        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
-          pid_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
+        package-name: ${{ env.package-name }}

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

@@ -4,8 +4,6 @@ name: Humble Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

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

@@ -4,8 +4,6 @@ name: Humble Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

.github/workflows/humble-debian-build.yml

@@ -1,4 +1,4 @@
-name: Debian Humble Build
+name: Debian Humble Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -12,19 +12,9 @@ on:
 jobs:
   humble_debian:
     name: Humble debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-debian-build.yml
+    with:
+      ros_distro: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_joint_trajectory_controller

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

@@ -11,21 +11,9 @@ on:
 jobs:
   humble_rhel_binary:
     name: Humble RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Install dependencies
-        run: |
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build and test
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build --packages-skip rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_joint_trajectory_controller
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    with:
+      ros_distro: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_joint_trajectory_controller

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

@@ -3,8 +3,6 @@ name: Humble Semi-Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

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

@@ -3,8 +3,6 @@ name: Humble Semi-Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

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

@@ -1,8 +1,6 @@
 name: Humble Source Build
 on:
   workflow_dispatch:
-    branches:
-      - humble
   push:
     branches:
       - humble

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

@@ -4,10 +4,6 @@ name: Iron Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - iron

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

@@ -4,10 +4,6 @@ name: Iron Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - iron

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

@@ -1,4 +1,4 @@
-name: Debian Iron Build
+name: Debian Iron Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -12,19 +12,9 @@ on:
 jobs:
   iron_debian:
     name: Iron debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-    container: ghcr.io/ros-controls/ros:iron-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-debian-build.yml
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_joint_trajectory_controller

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

@@ -12,23 +12,9 @@ on:
 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
-      - name: Install dependencies
-        run: |
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build and test
-      # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
-          colcon build --packages-skip rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_joint_trajectory_controller
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_joint_trajectory_controller

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

@@ -3,10 +3,6 @@ name: Iron Semi-Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - iron

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

@@ -3,10 +3,6 @@ name: Iron Semi-Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - iron

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

@@ -1,8 +1,6 @@
 name: Iron Source Build
 on:
   workflow_dispatch:
-    branches:
-      - iron
   push:
     branches:
       - iron