diff --git a/.github/workflows/ci-iron.yaml b/.github/workflows/ci-iron.yaml
new file mode 100644
index 00000000..d8408142
--- /dev/null
+++ b/.github/workflows/ci-iron.yaml
@@ -0,0 +1,84 @@
+name: gz_ros2_control CI - Iron
+
+on:
+ pull_request:
+ branches: [ iron ]
+ push:
+ branches: [ iron ]
+
+jobs:
+ build:
+ runs-on: ubuntu-latest
+ strategy:
+ matrix:
+ include:
+ - docker-image: "ubuntu:22.04"
+ gz-version: "fortress"
+ ros-distro: "iron"
+ - docker-image: "ubuntu:22.04"
+ gz-version: "garden"
+ ros-distro: "iron"
+ env:
+ DOCKER_IMAGE: ${{ matrix.docker-image }}
+ GZ_VERSION: ${{ matrix.gz-version }}
+ ROS_DISTRO: ${{ matrix.ros-distro }}
+ container:
+ image: ${{ matrix.docker-image }}
+ steps:
+ - uses: actions/checkout@v4
+ - name: Setup colcon workspace
+ id: configure
+ shell: bash
+ run: |
+ export DEBIAN_FRONTEND=noninteractive
+ apt update -qq
+ apt install -qq -y lsb-release wget curl gnupg2 git
+ cd ..
+ mkdir -p /home/ros2_ws/src
+ if [ "$ROS_DISTRO" == "rolling" ]; then
+ git clone https://github.com/gazebosim/ros_gz/
+ fi
+ cp -r gz_ros2_control /home/ros2_ws/src/
+ curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+ wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+ if [ "$GZ_VERSION" == "garden" ]; then
+ export GZ_DEPS="libgz-sim7-dev libgz-plugin2-dev gz-sim7-cli"
+ fi
+
+ apt-get update && apt-get upgrade -q -y
+ apt-get update && apt-get install -qq -y \
+ dirmngr \
+ python3-colcon-ros \
+ python3-colcon-common-extensions \
+ python3-rosdep \
+ build-essential \
+ ${GZ_DEPS}
+
+ if [ "$GZ_VERSION" == "garden" ]; then
+ export ROSDEP_ARGS="--skip-keys ros_gz_sim --skip-keys gz-plugin2 --skip-keys gz-sim7 --skip-keys gz-transport12 --skip-keys gz-math7 --skip-keys gz-msgs9"
+ fi
+ cd /home/ros2_ws/src/
+ if [ "$ROS_DISTRO" == "rolling" ]; then
+ git clone https://github.com/gazebosim/ros_gz/
+ fi
+ if [ "$ROS_DISTRO" == "iron" ]; then
+ git clone https://github.com/gazebosim/ros_gz/ -b iron
+ fi
+ rosdep init
+ rosdep update
+ rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src ${ROSDEP_ARGS}
+ - name: Build project
+ id: build
+ run: |
+ cd /home/ros2_ws/
+ . /opt/ros/${ROS_DISTRO}/local_setup.sh
+ colcon build --packages-up-to gz_ros2_control_demos gz_ros2_control_tests
+ - name: Run tests
+ id: test
+ run: |
+ cd /home/ros2_ws/
+ . /opt/ros/${ROS_DISTRO}/local_setup.sh
+ colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests
+ colcon test-result
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci-rolling.yaml
similarity index 93%
rename from .github/workflows/ci.yaml
rename to .github/workflows/ci-rolling.yaml
index 88414e67..47d4b053 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci-rolling.yaml
@@ -1,7 +1,8 @@
-name: Gazebo-Sim ros2 control CI
+name: gz_ros2_control CI - Rolling
on:
pull_request:
+ branches: [ master ]
push:
branches: [ master ]
@@ -11,15 +12,9 @@ jobs:
strategy:
matrix:
include:
- - docker-image: "ubuntu:22.04"
- gz-version: "fortress"
- ros-distro: "iron"
- docker-image: "ubuntu:22.04"
gz-version: "fortress"
ros-distro: "rolling"
- - docker-image: "ubuntu:22.04"
- gz-version: "garden"
- ros-distro: "iron"
- docker-image: "ubuntu:22.04"
gz-version: "garden"
ros-distro: "rolling"
diff --git a/README.md b/README.md
index 5c1eab2d..dc07c7cb 100644
--- a/README.md
+++ b/README.md
@@ -15,23 +15,23 @@ Foxy | Citadel | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/fox
Foxy | Edifice | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/foxy) | only from source
Galactic | Edifice | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | https://packages.ros.org
Galactic | Fortress | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | only from source
-Humble | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
-Iron | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Iron | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
-Iron | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Iron | Harmonic (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Rolling | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Rolling | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
-Rolling | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Rolling | Harmonic (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Humble | Fortress | [humble](https://github.com/ros-controls/gz_ros2_control/tree/humble) | https://packages.ros.org
+Iron | Edifice | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Iron | Fortress | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | https://packages.ros.org
+Iron | Garden (not released) | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Iron | Harmonic (not released) | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Rolling | Edifice | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Rolling | Fortress | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
+Rolling | Garden (not released) | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Rolling | Harmonic (not released) | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
## Build status
ROS 2 Distro | Branch | Build status | Documentation
:----------: | :----: | :----------: | :-----------:
-**Rolling** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/master/index.html)
[API Reference](https://control.ros.org/master/doc/api/index.html)
-**Iron** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/master/index.html)
[API Reference](https://control.ros.org/master/doc/api/index.html)
-**Humble** | [`humble`](https://github.com/ros-controls/gz_ros2_control/tree/humble) | [](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/humble/index.html)
[API Reference](https://control.ros.org/humble/doc/api/index.html)
+**Rolling** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml) | [Documentation](https://control.ros.org/master/index.html)
[API Reference](https://control.ros.org/master/doc/api/index.html)
+**Iron** | [`iron`](https://github.com/ros-controls/gz_ros2_control/tree/iron) | [](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml) | [Documentation](https://control.ros.org/iron/index.html)
[API Reference](https://control.ros.org/iron/doc/api/index.html)
+**Humble** | [`humble`](https://github.com/ros-controls/gz_ros2_control/tree/humble) | [](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/humble/index.html)
[API Reference](https://control.ros.org/humble/doc/api/index.html)
## Documentation
See the [documentation file](doc/index.rst) or [control.ros.org](https://control.ros.org/master/doc/simulators/gz_ros2_control/doc/index.html)