diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index aafd67c..3506a3c 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -24,4 +24,4 @@ updates:
directory: "/"
schedule:
interval: "weekly"
- target-branch: "iron"
+ target-branch: "jazzy"
diff --git a/.github/workflows/ci-iron.yaml b/.github/workflows/ci-iron.yaml
deleted file mode 100644
index 81837e0..0000000
--- a/.github/workflows/ci-iron.yaml
+++ /dev/null
@@ -1,108 +0,0 @@
-name: gz_ros2_control CI - Iron
-
-on:
- workflow_dispatch:
- pull_request:
- branches: [ iron ]
- push:
- branches: [ iron ]
- schedule:
- # Run every morning to detect flakiness and broken dependencies
- - cron: '33 4 * * *'
-
-jobs:
- build:
- runs-on: ubuntu-latest
- strategy:
- fail-fast: false
- matrix:
- include:
- - docker-image: "ubuntu:22.04"
- gz-version: "fortress"
- ros-distro: "iron"
- ros-repo-packages: ""
- - docker-image: "ubuntu:22.04"
- gz-version: "garden"
- ros-distro: "iron"
- ros-repo-packages: ""
- - docker-image: "ubuntu:22.04"
- gz-version: "fortress"
- ros-distro: "iron"
- ros-repo-packages: "-testing"
- - docker-image: "ubuntu:22.04"
- gz-version: "garden"
- ros-distro: "iron"
- ros-repo-packages: "-testing"
-
- env:
- DOCKER_IMAGE: ${{ matrix.docker-image }}
- GZ_VERSION: ${{ matrix.gz-version }}
- ROS_DISTRO: ${{ matrix.ros-distro }}
- ROS_REPO_PACKAGES: ${{ matrix.ros-repo-packages }}
- container:
- image: ${{ matrix.docker-image }}
- steps:
- - name: Checkout code
- if: github.event_name != 'schedule'
- uses: actions/checkout@v4
- - name: Checkout code for scheduled workflow
- if: github.event_name == 'schedule'
- uses: actions/checkout@v4
- with:
- ref: iron
- - name: Setup colcon workspace
- id: configure
- shell: bash
- run: |
- export DEBIAN_FRONTEND=noninteractive
- apt update -qq
- apt install -qq -y lsb-release wget curl gnupg2 git
- cd ..
- mkdir -p /home/ros2_ws/src
- if [ "$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=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2$ROS_REPO_PACKAGES/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/README.md b/README.md
index de9b4f7..f40136e 100644
--- a/README.md
+++ b/README.md
@@ -12,10 +12,6 @@ This package provides a Gazebo-Sim system plugin which instantiates a `ros2_cont
ROS version | Gazebo version | Branch | Binaries hosted at | APT key
-- | -- | -- | -- | --
Humble | Fortress | [humble](https://github.com/ros-controls/gz_ros2_control/tree/humble) | https://packages.ros.org | `ros-humble-ign-ros2-control`
-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 | `ros-iron-gz-ros2-control`
-Iron | Garden | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source |
-Iron | Harmonic | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source |
Jazzy | Harmonic | [jazzy](https://github.com/ros-controls/gz_ros2_control/tree/jazzy) | https://packages.ros.org | `ros-jazzy-gz-ros2-control`
Rolling | Harmonic | [rolling](https://github.com/ros-controls/gz_ros2_control/tree/rolling) | https://packages.ros.org | `ros-rolling-gz-ros2-control`
@@ -25,7 +21,6 @@ ROS 2 Distro | Branch | Build status | Documentation
:----------: | :----: | :----------: | :-----------:
**Rolling** | [`rolling`](https://github.com/ros-controls/gz_ros2_control/tree/rolling) | [](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml) | [Documentation](https://control.ros.org/rolling/index.html)
[API Reference](https://control.ros.org/rolling/doc/api/index.html)
**Jazzy** | [`jazzy`](https://github.com/ros-controls/gz_ros2_control/tree/jazzy) | [](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-jazzy.yaml) | [Documentation](https://control.ros.org/jazzy/index.html)
[API Reference](https://control.ros.org/jazzy/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