Merge branch 'master' into cm-fix-calls-to-prepare-and-perform-switch

ros-controls · Jan 25, 2024 · 70feeab · 70feeab
2 parents d5b1276 + 207f496
commit 70feeab
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diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -20,7 +20,31 @@ pull_request_rules:
   - name: Ask to resolve conflict
     conditions:
       - conflict
-      - author!=mergify
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
     actions:
         comment:
           message: This pull request is in conflict. Could you fix it @{{author}}?
+
+  - name: Ask to resolve conflict for backports
+    conditions:
+      - conflict
+      - author=mergify[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich?
+
+  - name: development targets master branch
+    conditions:
+      - base!=master
+      - author!=bmagyar
+      - author!=destogl
+      - author!=christophfroehlich
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: |
+            @{{author}}, all pull requests must be targeted towards the `master` development branch.
+            Once merged into `master`, it is possible to backport to `{{base}}`, but it must be in `master`
+            to have these changes reflected into new distributions.
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -46,7 +46,7 @@ jobs:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.0.0
+      - uses: actions/upload-artifact@v4.2.0
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Humble Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+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_control
+      - name: Build and test
+        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-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -1,17 +1,12 @@
-name: Humble RHEL Binary Build
+name: RHEL Humble Binary Build
 on:
   workflow_dispatch:
+  pull_request:
     branches:
       - humble
-#  pull_request:
-#    branches:
-#      - humble
-#  push:
-#    branches:
-#      - humble
-#  schedule:
-#    # Run every day to detect flakiness and broken dependencies
-#    - cron: '03 1 * * *'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
 
 jobs:
   humble_rhel_binary:
@@ -24,9 +19,13 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_control
+          rosdep install -iyr --from-path src/ros2_control || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Iron - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron
@@ -15,6 +13,6 @@ jobs:
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: iron
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Iron Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_debian:
+    name: Iron debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
@@ -1,17 +1,13 @@
-name: Iron RHEL Binary Build
+name: RHEL Iron Binary Build
 on:
   workflow_dispatch:
+  pull_request:
     branches:
       - iron
-#  pull_request:
-#    branches:
-#      - iron
-#  push:
-#    branches:
-#      - iron
-#  schedule:
-#    # Run every day to detect flakiness and broken dependencies
-#    - cron: '03 1 * * *'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
 
 jobs:
   iron_rhel_binary:
@@ -24,9 +20,13 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_control
+          rosdep install -iyr --from-path src/ros2_control || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test-result --verbose
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -36,6 +36,7 @@ jobs:
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
+          ref: ${{ inputs.ref }} # otherwise the default branch is used for scheduled workflows
           package-name:
             controller_interface
             controller_manager
@@ -49,7 +50,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v4.0.0
+      - uses: actions/upload-artifact@v4.2.0
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
@@ -6,6 +6,7 @@ on:
 jobs:
   test:
     runs-on: ubuntu-latest
+    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
     steps:
     - uses: actions/checkout@v4
     - uses: uesteibar/reviewer-lottery@v3

diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -0,0 +1,18 @@
+name: Rolling - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: rolling
+          ROS_REPO: testing
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Rolling Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  rolling_debian:
+    name: Rolling debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: rolling
+    container: ghcr.io/ros-controls/ros:rolling-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,7 +1,7 @@
-name: Rolling RHEL Binary Build
+name: RHEL Rolling Binary Build
 on:
   workflow_dispatch:
-  push:
+  pull_request:
     branches:
       - master
   schedule:
@@ -20,9 +20,13 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_control
+          rosdep install -iyr --from-path src/ros2_control || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test-result --verbose
diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.3.0 (2024-01-20)
+------------------
+* Issue 695: Changing 'namespace\_' variables to 'node_namespace' to make it more explicit (`#1239 <https://github.com/ros-controls/ros2_control/issues/1239>`_)
+* Contributors: bailaC
+
 4.2.0 (2023-12-12)
 ------------------
 

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -115,7 +115,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual return_type init(
     const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-    const std::string & namespace_ = "",
+    const std::string & node_namespace = "",
     const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions().enable_logger_service(true));
 
   /// Custom configure method to read additional parameters for controller-nodes

diff --git a/controller_interface/package.xml b/controller_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>4.2.0</version>
+  <version>4.3.0</version>
   <description>Description of controller_interface</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
   <maintainer email="[email protected]">Denis Štogl</maintainer>

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -26,10 +26,11 @@ namespace controller_interface
 {
 return_type ControllerInterfaceBase::init(
   const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-  const std::string & namespace_, const rclcpp::NodeOptions & node_options)
+  const std::string & node_namespace, const rclcpp::NodeOptions & node_options)
 {
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
-    controller_name, namespace_, node_options, false);  // disable LifecycleNode service interfaces
+    controller_name, node_namespace, node_options,
+    false);  // disable LifecycleNode service interfaces
   urdf_ = urdf;
 
   try

diff --git a/controller_interface/test/test_controller_with_options.hpp b/controller_interface/test/test_controller_with_options.hpp
@@ -41,13 +41,13 @@ class ControllerWithOptions : public controller_interface::ControllerInterface
 
   controller_interface::return_type init(
     const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-    const std::string & namespace_ = "",
+    const std::string & node_namespace = "",
     const rclcpp::NodeOptions & node_options =
       rclcpp::NodeOptions()
         .allow_undeclared_parameters(true)
         .automatically_declare_parameters_from_overrides(true)) override
   {
-    ControllerInterface::init(controller_name, urdf, cm_update_rate, namespace_, node_options);
+    ControllerInterface::init(controller_name, urdf, cm_update_rate, node_namespace, node_options);
 
     switch (on_init())
     {