Merge branch 'master' into fix/cleanup-of-chainable-controllers

Author: bmagyar

.github/workflows/kilted-pre-release.yml

@@ -25,3 +25,4 @@ jobs:
       ros_distro: kilted
       # downstream_depth is not set on pull_request event
       prerelease_downstream_depth: ${{ github.event_name == 'pull_request' && '0' || inputs.downstream_depth }}
+      prerelease_exclude_pkg: ackermann_steering_controller admittance_controller bicycle_steering_controller chained_filter_controller diff_drive_controller effort_controllers force_torque_sensor_broadcaster forward_command_controller gpio_controllers gps_sensor_broadcaster imu_sensor_broadcaster joint_state_broadcaster joint_trajectory_controller mecanum_drive_controller motion_primitives_controllers omni_wheel_drive_controller parallel_gripper_controller pid_controller pose_broadcaster 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 gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests

.github/workflows/rolling-abi-compatibility.yml

@@ -14,6 +14,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
+      - 'ros2_control-not-released.lyrical.repos'
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
@@ -26,6 +27,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [lyrical, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

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

@@ -17,6 +17,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
+      - 'ros2_control-not-released.lyrical.repos'
   push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies
@@ -33,7 +34,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [lyrical,rolling]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

.github/workflows/rolling-compatibility-lyrical-binary-build.yml

@@ -0,0 +1,34 @@
+name: Check Rolling Compatibility on Lyrical
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test the rolling version on Lyrical distro.'
+
+on:
+  workflow_dispatch:
+  pull_request: &event
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-lyrical-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+  push: *event
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
+jobs:
+  build-on-lyrical:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: lyrical
+      ros_repo: testing
+      upstream_workspace: ros2_control.rolling.repos
+      ref_for_scheduled_build: master

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

@@ -14,6 +14,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
+      - 'ros2_control.lyrical.repos'
   push: *event
 
 concurrency:
@@ -28,7 +29,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [lyrical, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos

.github/workflows/rolling-pre-commit.yml

@@ -19,6 +19,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [lyrical, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

.github/workflows/rolling-pre-release.yml

@@ -23,11 +23,11 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [lyrical, rolling]
 
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-prerelease.yml@master
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       # downstream_depth is not set on pull_request event
       prerelease_downstream_depth: ${{ github.event_name == 'pull_request' && '0' || inputs.downstream_depth }}
-      prerelease_exclude_pkg: ackermann_steering_controller admittance_controller bicycle_steering_controller chained_filter_controller diff_drive_controller effort_controllers force_torque_sensor_broadcaster forward_command_controller gpio_controllers gps_sensor_broadcaster imu_sensor_broadcaster joint_state_broadcaster joint_trajectory_controller mecanum_drive_controller motion_primitives_controllers omni_wheel_drive_controller parallel_gripper_controller pid_controller pose_broadcaster 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 gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests
+      prerelease_exclude_pkg: ackermann_steering_controller admittance_controller bicycle_steering_controller chained_filter_controller diff_drive_controller force_torque_sensor_broadcaster forward_command_controller gpio_controllers gps_sensor_broadcaster imu_sensor_broadcaster joint_state_broadcaster joint_trajectory_controller mecanum_drive_controller motion_primitives_controllers omni_wheel_drive_controller parallel_gripper_controller pid_controller pose_broadcaster range_sensor_broadcaster ros2_controllers ros2_controllers_test_nodes rqt_joint_trajectory_controller steering_controllers_library tricycle_controller tricycle_steering_controller gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests

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

@@ -14,6 +14,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
+      - 'ros2_control.lyrical.repos'
   push: *event
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
@@ -26,7 +27,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [lyrical, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos

.github/workflows/rolling-semi-binary-build-win.yml

@@ -14,6 +14,7 @@ on:
       - '**.py'
       - '**.yaml'
       - '.github/workflows/rolling-semi-binary-build-win.yml'
+      - 'ros2_control.rolling.repos'
       - '**/package.xml'
       - '**/CMakeLists.txt'
   push: *event
@@ -29,3 +30,4 @@ jobs:
     with:
       ros_distro: rolling
       pixi_dependencies: typeguard jinja2 boost compilers cpp-expected
+      upstream_workspace: ros2_control.rolling.repos

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

@@ -17,6 +17,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
+      - 'ros2_control.lyrical.repos'
   push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies
@@ -33,7 +34,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [lyrical, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: testing