diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 05a48fc6..aafd67c2 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -11,3 +11,17 @@ updates:
directory: "/"
schedule:
interval: "weekly"
+ - package-ecosystem: "github-actions"
+ # Workflow files stored in the
+ # default location of `.github/workflows`
+ directory: "/"
+ schedule:
+ interval: "weekly"
+ target-branch: "humble"
+ - package-ecosystem: "github-actions"
+ # Workflow files stored in the
+ # default location of `.github/workflows`
+ directory: "/"
+ schedule:
+ interval: "weekly"
+ target-branch: "iron"
diff --git a/.github/workflows/ci-format.yaml b/.github/workflows/ci-format.yaml
index 0712e70b..4db51ac9 100644
--- a/.github/workflows/ci-format.yaml
+++ b/.github/workflows/ci-format.yaml
@@ -13,7 +13,7 @@ jobs:
runs-on: ubuntu-22.04
steps:
- uses: actions/checkout@v4
- - uses: actions/setup-python@v4
+ - uses: actions/setup-python@v5
with:
python-version: 3.10.6
- name: Install system hooks
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 c9a35a5b..ab5d48c6 100644
--- a/README.md
+++ b/README.md
@@ -15,18 +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
-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
+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-humble.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)
@@ -37,6 +42,7 @@ If you want compile this from source, you should choose the Gazebo version. The
```bash
export GZ_VERSION=fortress
export GZ_VERSION=garden
+export GZ_VERSION=harmonic
```
Then create a workspace, clone the repo and compile it:
diff --git a/gz_ros2_control/CMakeLists.txt b/gz_ros2_control/CMakeLists.txt
index 8ec5f5a5..c28ae795 100644
--- a/gz_ros2_control/CMakeLists.txt
+++ b/gz_ros2_control/CMakeLists.txt
@@ -36,6 +36,15 @@ if("$ENV{GZ_VERSION}" STREQUAL "garden")
set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
add_definitions(-DGZ_HEADERS)
+elseif("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+ find_package(gz-sim8 REQUIRED)
+ set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+ message(STATUS "Compiling against Gazebo Harmonic")
+ find_package(gz-plugin2 REQUIRED)
+ set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+ set(GZ_PLUGIN gz-plugin${GZ_PLUGIN_VER}::register)
+ set(GZ_SIM gz-sim${GZ_SIM_VER}::core)
+ add_definitions(-DGZ_HEADERS)
else()
find_package(ignition-gazebo6 REQUIRED)
set(GZ_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
diff --git a/gz_ros2_control/package.xml b/gz_ros2_control/package.xml
index 6a97719a..6344c7bb 100644
--- a/gz_ros2_control/package.xml
+++ b/gz_ros2_control/package.xml
@@ -15,10 +15,12 @@
ignition-gazebo6
ignition-gazebo6
gz-sim7
+ gz-sim8
ignition-plugin
ignition-plugin
gz-plugin2
+ gz-plugin2
pluginlib
rclcpp
yaml_cpp_vendor
diff --git a/gz_ros2_control_demos/package.xml b/gz_ros2_control_demos/package.xml
index 45565b05..51ef09fb 100644
--- a/gz_ros2_control_demos/package.xml
+++ b/gz_ros2_control_demos/package.xml
@@ -37,6 +37,7 @@
rclcpp
robot_state_publisher
ros_gz_sim
+ ros_gz_sim
ros_gz_sim
ros_ign_gazebo
ros2controlcli
diff --git a/gz_ros2_control_tests/package.xml b/gz_ros2_control_tests/package.xml
index 67add5ff..870ceef6 100644
--- a/gz_ros2_control_tests/package.xml
+++ b/gz_ros2_control_tests/package.xml
@@ -29,6 +29,7 @@
rclcpp
robot_state_publisher
ros_gz_sim
+ ros_gz_sim
ros_gz_sim
ros_ign_gazebo
ros2controlcli