Merge branch 'master' into add-simple-joint-limiter

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

@@ -21,7 +21,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/[email protected].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -31,6 +31,7 @@ jobs:
             controller_manager
             hardware_interface
             joint_limits
+            hardware_interface_testing
             transmission_interface
 
           vcs-repo-file-url: |
@@ -42,12 +43,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.4
+      - uses: codecov/codecov-action@v4.0.1
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.2.0
+      - uses: actions/upload-artifact@v4.3.0
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log

.github/workflows/ci-ros-lint.yml

@@ -2,6 +2,19 @@ name: ROS Lint
 on:
   pull_request:
 
+env:
+  package-name:
+    controller_interface
+    controller_manager
+    controller_manager_msgs
+    hardware_interface
+    hardware_interface_testing
+    joint_limits
+    ros2controlcli
+    ros2_control
+    ros2_control_test_assets
+    transmission_interface
+
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
@@ -19,17 +32,7 @@ jobs:
       with:
         distribution: rolling
         linter: ${{ matrix.linter }}
-        package-name:
-          controller_interface
-          controller_manager
-          controller_manager_msgs
-          hardware_interface
-          joint_limits
-          ros2controlcli
-          ros2_control
-          ros2_control_test_assets
-          transmission_interface
-
+        package-name: ${{ env.package-name }}
   ament_lint_100:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
@@ -45,13 +48,4 @@ jobs:
         distribution: rolling
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          controller_interface
-          controller_manager
-          controller_manager_msgs
-          hardware_interface
-          joint_limits
-          ros2controlcli
-          ros2_control
-          ros2_control_test_assets
-          transmission_interface
+        package-name: ${{ env.package-name }}

.github/workflows/humble-binary-build-main.yml

@@ -4,8 +4,6 @@ name: Humble Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

.github/workflows/humble-binary-build-testing.yml

@@ -4,8 +4,6 @@ name: Humble Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

.github/workflows/humble-debian-build.yml

@@ -15,16 +15,24 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: humble
+      skip-packages-build: rqt_controller_manager
+      skip-packages-test: rqt_controller_manager controller_manager_msgs
     container: ghcr.io/ros-controls/ros:humble-debian
     steps:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - name: Build and test
+          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
+      - name: Build workspace
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
           vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
           colcon test-result --verbose

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

@@ -14,18 +14,29 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: humble
+      skip-packages: rqt_controller_manager
     container: ghcr.io/ros-controls/ros:humble-rhel
     steps:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
+          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
       - name: Install dependencies
         run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           rosdep update
           rosdep install -iyr --from-path src/ros2_control || true
-      - name: Build and test
+      - name: Build workspace
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
           colcon test-result --verbose

.github/workflows/humble-semi-binary-build-main.yml

@@ -3,8 +3,6 @@ name: Humble Semi-Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

.github/workflows/humble-semi-binary-build-testing.yml

@@ -3,8 +3,6 @@ name: Humble Semi-Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

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

@@ -1,8 +1,6 @@
 name: Humble Source Build
 on:
   workflow_dispatch:
-    branches:
-      - humble
   push:
     branches:
       - humble

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

@@ -4,8 +4,6 @@ name: Iron Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron

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

@@ -4,8 +4,6 @@ name: Iron Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron

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

@@ -15,16 +15,24 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: iron
+      skip-packages-build: rqt_controller_manager
+      skip-packages-test: rqt_controller_manager controller_manager_msgs
     container: ghcr.io/ros-controls/ros:iron-debian
     steps:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - name: Build and test
+          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
+      - name: Build workspace
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
           vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
           colcon test-result --verbose

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

@@ -8,25 +8,36 @@ on:
     # 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
+      skip-packages: rqt_controller_manager
     container: ghcr.io/ros-controls/ros:iron-rhel
     steps:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
+          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
       - name: Install dependencies
         run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           rosdep update
           rosdep install -iyr --from-path src/ros2_control || true
-      - name: Build and test
+      - name: Build workspace
+        # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip  ${{ env.skip-packages }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip  ${{ env.skip-packages }}
           colcon test-result --verbose

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

@@ -3,8 +3,6 @@ name: Iron Semi-Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron

.github/workflows/iron-semi-binary-build-testing.yml

@@ -3,8 +3,6 @@ name: Iron Semi-Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron

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

@@ -1,8 +1,6 @@
 name: Iron Source Build
 on:
   workflow_dispatch:
-    branches:
-      - iron
   push:
     branches:
       - iron

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

@@ -32,7 +32,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/[email protected].5
+      - uses: ros-tooling/[email protected].6
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
@@ -50,7 +50,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ 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@v4.2.0
+      - uses: actions/upload-artifact@v4.3.0
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log

.github/workflows/rolling-binary-build-main.yml

@@ -4,8 +4,6 @@ name: Rolling Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master

.github/workflows/rolling-debian-build.yml

@@ -15,16 +15,24 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: rolling
+      skip-packages: rqt_controller_manager
     container: ghcr.io/ros-controls/ros:rolling-debian
     steps:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - name: Build and test
+          # default behavior is correct on master branch
+          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
+      - name: Build workspace
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
           vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager
+          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
           colcon test-result --verbose