Merge branch 'ros-controls:master' into master

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

@@ -55,6 +55,6 @@ Don’t hesitate to ask questions or to get help if you feel like you are gettin
 Furthermore, you find helpful resources here:
 * [ROS2 Control Contribution Guide](https://control.ros.org/master/doc/contributing/contributing.html)
 * [ROS2 Tutorials](https://docs.ros.org/en/rolling/Tutorials.html)
-* [ROS Answers](https://answers.ros.org/questions/)
+* [Robotics Stack Exchange](https://robotics.stackexchange.com)
 
 **Good luck with your first issue!**

.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"

.github/mergify.yml

@@ -8,7 +8,6 @@ pull_request_rules:
         branches:
           - humble
 
-
   - name: Backport to iron at reviewers discretion
     conditions:
       - base=master
@@ -21,7 +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.

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

@@ -17,11 +17,11 @@ jobs:
     env:
       ROS_DISTRO: humble
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         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 }}
@@ -38,6 +38,7 @@ jobs:
             imu_sensor_broadcaster
             joint_state_broadcaster
             joint_trajectory_controller
+            pid_controller
             position_controllers
             range_sensor_broadcaster
             steering_controllers_library
@@ -54,12 +55,12 @@ 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@v3.1.3
+      - uses: actions/upload-artifact@v4.3.1
         with:
           name: colcon-logs-coverage-humble
           path: ros_ws/log

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

@@ -17,11 +17,11 @@ jobs:
     env:
       ROS_DISTRO: iron
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         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 }}
@@ -38,6 +38,7 @@ jobs:
             imu_sensor_broadcaster
             joint_state_broadcaster
             joint_trajectory_controller
+            pid_controller
             position_controllers
             range_sensor_broadcaster
             steering_controllers_library
@@ -54,12 +55,12 @@ 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@v3.1.3
+      - uses: actions/upload-artifact@v4.3.1
         with:
           name: colcon-logs-coverage-iron
           path: ros_ws/log

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

@@ -17,11 +17,11 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/[email protected].0
+      - uses: ros-tooling/[email protected].1
         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 }}
@@ -38,6 +38,7 @@ jobs:
             imu_sensor_broadcaster
             joint_state_broadcaster
             joint_trajectory_controller
+            pid_controller
             position_controllers
             range_sensor_broadcaster
             steering_controllers_library
@@ -54,12 +55,12 @@ 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@v3.1.3
+      - uses: actions/upload-artifact@v4.3.1
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log

.github/workflows/ci-format.yml

@@ -12,11 +12,11 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
-    - uses: actions/setup-python@v4.7.1
+    - uses: actions/setup-python@v5.0.0
       with:
         python-version: '3.10'
     - name: Install system hooks
       run: sudo apt install -qq clang-format-14 cppcheck
-    - uses: pre-commit/[email protected].0
+    - uses: pre-commit/[email protected].1
       with:
         extra_args: --all-files --hook-stage manual

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

@@ -2,6 +2,30 @@ name: ROS Lint
 on:
   pull_request:
 
+env:
+  package-name:
+    ackermann_steering_controller
+    admittance_controller
+    bicycle_steering_controller
+    diff_drive_controller
+    effort_controllers
+    force_torque_sensor_broadcaster
+    forward_command_controller
+    gripper_controllers
+    imu_sensor_broadcaster
+    joint_state_broadcaster
+    joint_trajectory_controller
+    pid_controller
+    position_controllers
+    range_sensor_broadcaster
+    ros2_controllers
+    ros2_controllers_test_nodes
+    rqt_joint_trajectory_controller
+    steering_controllers_library
+    tricycle_controller
+    tricycle_steering_controller
+    velocity_controllers
+
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
@@ -14,32 +38,12 @@ jobs:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
     - uses: actions/checkout@v4
-    - uses: ros-tooling/[email protected].0
+    - uses: ros-tooling/[email protected].1
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling
         linter: ${{ matrix.linter }}
-        package-name:
-          ackermann_steering_controller
-          admittance_controller
-          bicycle_steering_controller
-          diff_drive_controller
-          effort_controllers
-          force_torque_sensor_broadcaster
-          forward_command_controller
-          gripper_controllers
-          imu_sensor_broadcaster
-          joint_state_broadcaster
-          joint_trajectory_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
+        package-name: ${{ env.package-name }}
 
 
   ament_lint_100:
@@ -57,24 +61,4 @@ jobs:
         distribution: rolling
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          ackermann_steering_controller
-          admittance_controller
-          bicycle_steering_controller
-          diff_drive_controller
-          effort_controllers
-          force_torque_sensor_broadcaster
-          forward_command_controller
-          gripper_controllers
-          imu_sensor_broadcaster
-          joint_state_broadcaster
-          joint_trajectory_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
+        package-name: ${{ env.package-name }}

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

@@ -1,11 +1,9 @@
-name: Humble Binary Build - main
+name: Humble Binary Build
 # author: Denis Štogl <[email protected]>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
@@ -18,9 +16,13 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_REPO: [main, testing]
     with:
       ros_distro: humble
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers-not-released.humble.repos
       ref_for_scheduled_build: humble