Merge branch 'master' into allow_empty_urdf

.github/ISSUE_TEMPLATE/good-first-issue.md

@@ -28,7 +28,7 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 - [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
 
-- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/galactic/Tutorials/Workspace/Creating-A-Workspace.html), for Step3 use "Download Source Code" section with [these instructions](https://ros-controls.github.io/control.ros.org/getting_started.html#compiling).
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/rolling/Tutorials/Workspace/Creating-A-Workspace.html), for Step3 use "Download Source Code" section with [these instructions](https://ros-controls.github.io/control.ros.org/getting_started.html#compiling).
 
 - [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ws_ros2_control/src/ros-controls/ros2_control`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `ros2_control` folder before cloning your own fork)
 
@@ -54,7 +54,7 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below!
 Furthermore, you find helpful resources here:
 * [ROS2 Control Contribution Guide](https://ros-controls.github.io/control.ros.org/contributing.html)
-* [ROS2 Tutorials](https://docs.ros.org/en/galactic/Tutorials.html)
+* [ROS2 Tutorials](https://docs.ros.org/en/rolling/Tutorials.html)
 * [ROS Answers](https://answers.ros.org/questions/)
 
 **Good luck with your first issue!**

.github/mergify.yml

@@ -2,30 +2,12 @@ pull_request_rules:
   - name: Backport to humble at reviewers discretion
     conditions:
       - base=master
-      - "label=humble-galactic"
+      - "label=backport-humble"
     actions:
       backport:
         branches:
           - humble
 
-  - name: Backport to galactic at reviewers discretion
-    conditions:
-      - base=master
-      - "label=backport-galactic"
-    actions:
-      backport:
-        branches:
-          - galactic
-
-  - name: Backport to foxy at reviewers discretion
-    conditions:
-      - base=master
-      - "label=backport-foxy"
-    actions:
-      backport:
-        branches:
-          - foxy
-
   - name: Ask to resolve conflict
     conditions:
       - conflict

.github/workflows/README.md

@@ -2,6 +2,5 @@
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-testing.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-testing.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
+**Iron** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml?branch=master) <br /> [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-testing.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-testing.yml?branch=master) <br /> [![Iron Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-testing.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-testing.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml?branch=master) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
-**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-main.yml?branch=galactic) <br /> [![Galactic Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-testing.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-main.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-testing.yml?branch=galactic) | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#galactic)
-**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-main.yml?branch=foxy) <br /> [![Foxy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-testing.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-main.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-testing.yml?branch=foxy) | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#foxy)

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

@@ -20,7 +20,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v3
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].2
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/foxy-abi-compatibility.yml → .github/workflows/iron-abi-compatibility.yml

@@ -1,11 +1,11 @@
-name: Foxy - ABI Compatibility Check
+name: Iron - ABI Compatibility Check
 on:
   workflow_dispatch:
     branches:
-      - foxy
+      - master
   pull_request:
     branches:
-      - foxy
+      - master
 
 jobs:
   abi_check:
@@ -14,7 +14,7 @@ jobs:
       - uses: actions/checkout@v3
       - uses: ros-industrial/industrial_ci@master
         env:
-          ROS_DISTRO: foxy
+          ROS_DISTRO: iron
           ROS_REPO: main
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true

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

@@ -1,17 +1,17 @@
-name: Foxy Binary Build - main
+name: Iron Binary Build - main
 # author: Denis Štogl <[email protected]>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
     branches:
-      - foxy
+      - master
   pull_request:
     branches:
-      - foxy
+      - master
   push:
     branches:
-      - foxy
+      - master
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -20,7 +20,7 @@ jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: foxy
+      ros_distro: iron
       ros_repo: main
-      upstream_workspace: ros2_control-not-released.foxy.repos
-      ref_for_scheduled_build: foxy
+      upstream_workspace: ros2_control-not-released.iron.repos
+      ref_for_scheduled_build: master

.github/workflows/galactic-binary-build-main.yml → .github/workflows/iron-binary-build-testing.yml

@@ -1,17 +1,17 @@
-name: Galactic Binary Build - main
+name: Iron Binary Build - testing
 # author: Denis Štogl <[email protected]>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
     branches:
-      - galactic
+      - master
   pull_request:
     branches:
-      - galactic
+      - master
   push:
     branches:
-      - galactic
+      - master
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -20,7 +20,7 @@ jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: galactic
-      ros_repo: main
-      upstream_workspace: ros2_control-not-released.galactic.repos
-      ref_for_scheduled_build: galactic
+      ros_distro: iron
+      ros_repo: testing
+      upstream_workspace: ros2_control-not-released.iron.repos
+      ref_for_scheduled_build: master

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

@@ -0,0 +1,32 @@
+name: Iron RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+#  pull_request:
+#    branches:
+#      - iron
+#  push:
+#    branches:
+#      - iron
+#  schedule:
+#    # Run every day to detect flakiness and broken dependencies
+#    - cron: '03 1 * * *'
+
+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@v3
+        with:
+          path: src/ros2_control
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_control
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test

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

@@ -1,16 +1,16 @@
-name: Foxy Semi-Binary Build - main
+name: Iron Semi-Binary Build - main
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
   workflow_dispatch:
     branches:
-      - foxy
+      - master
   pull_request:
     branches:
-      - foxy
+      - master
   push:
     branches:
-      - foxy
+      - master
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -19,7 +19,7 @@ jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: foxy
+      ros_distro: iron
       ros_repo: main
-      upstream_workspace: ros2_control.foxy.repos
-      ref_for_scheduled_build: foxy
+      upstream_workspace: ros2_control.iron.repos
+      ref_for_scheduled_build: master

.github/workflows/galactic-semi-binary-build-main.yml → .github/workflows/iron-semi-binary-build-testing.yml

@@ -1,13 +1,16 @@
-name: Galactic Semi-Binary Build - main
+name: Iron Semi-Binary Build - testing
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
   workflow_dispatch:
     branches:
-      - galactic
+      - master
+  pull_request:
+    branches:
+      - master
   push:
     branches:
-      - galactic
+      - master
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -16,7 +19,7 @@ jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: galactic
-      ros_repo: main
-      upstream_workspace: ros2_control.galactic.repos
-      ref_for_scheduled_build: galactic
+      ros_distro: iron
+      ros_repo: testing
+      upstream_workspace: ros2_control.iron.repos
+      ref_for_scheduled_build: master

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

@@ -0,0 +1,19 @@
+name: Iron Source Build
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: iron
+      ref: master
+      ros2_repo_branch: iron

.github/workflows/prerelease-check.yml

@@ -9,19 +9,17 @@ on:
         default: 'rolling'
         type: choice
         options:
-        - foxy
-        - galactic
         - humble
+        - iron
         - rolling
       branch:
         description: 'Chose branch for distro'
         required: true
         default: 'master'
         type: choice
         options:
-        - foxy
-        - galactic
         - humble
+        - iron
         - master
 
 jobs:

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -14,7 +14,7 @@ on:
         required: true
         type: string
       ros2_repo_branch:
-        description: 'Branch in the ros2/ros2 repozitory from which ".repos" should be used. Possible values: master (Rolling), humble, galactic, foxy.'
+        description: 'Branch in the ros2/ros2 repository from which ".repos" should be used. Possible values: master (Rolling), humble.'
         default: 'master'
         required: false
         type: string
@@ -32,7 +32,7 @@ jobs:
       - uses: actions/checkout@v3
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].2
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package

.github/workflows/reviewer_lottery.yml

@@ -8,6 +8,6 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
-    - uses: uesteibar/reviewer-lottery@v2
+    - uses: uesteibar/reviewer-lottery@v3
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}