update industrial ci to use jazzy and ubuntu-24.04 (#64)

* update industrial ci to use jazzy and ubuntu-24.04 * update hardware_interface.hpp with ros2_control changes * update stdout tests for new standard as alredy done on kuka_drivers on jazzy
kroshu · Sep 4, 2024 · 87ff761 · 87ff761
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commit 87ff761
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Showing 9 changed files with 17 additions and 32 deletions.
diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml
@@ -35,7 +35,7 @@ jobs:
         env:
         - ROS_REPO: ros
           BUILDER: colcon
-          ROS_DISTRO: humble
+          ROS_DISTRO: jazzy
     env:
       CCACHE_DIR: /github/home/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
       EVENT_NAME: ${{ github.event_name }}
@@ -45,7 +45,7 @@ jobs:
       PR_NUMBER: ${{ github.event.number }}
       ANALYZER_TOKEN: ${{ secrets.ANALYZER_TOKEN }}
       DEBUG_BASH: true
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v2
         with:

diff --git a/kuka_agilus_support/test/test_kr_agilus.py b/kuka_agilus_support/test/test_kr_agilus.py
@@ -56,7 +56,5 @@ def generate_test_description(test_file):
 
 class TestModels(unittest.TestCase):
     def test_read_stdout(self, proc_output):
-        # Check for frames defined by ROS-Industrial
-        proc_output.assertWaitFor("got segment base", timeout=5)
-        proc_output.assertWaitFor("got segment flange", timeout=5)
-        proc_output.assertWaitFor("got segment tool0", timeout=5)
+        # Check for robot initialization
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
diff --git a/kuka_cybertech_support/test/test_kr_cybertech.py b/kuka_cybertech_support/test/test_kr_cybertech.py
@@ -56,7 +56,5 @@ def generate_test_description(test_file):
 
 class TestModels(unittest.TestCase):
     def test_read_stdout(self, proc_output):
-        # Check for frames defined by ROS-Industrial
-        proc_output.assertWaitFor("got segment base", timeout=5)
-        proc_output.assertWaitFor("got segment flange", timeout=5)
-        proc_output.assertWaitFor("got segment tool0", timeout=5)
+        # Check for robot initialization
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
diff --git a/kuka_fortec_support/test/test_kr_fortec.py b/kuka_fortec_support/test/test_kr_fortec.py
@@ -60,7 +60,5 @@ def generate_test_description(test_file):
 
 class TestModels(unittest.TestCase):
     def test_read_stdout(self, proc_output):
-        # Check for frames defined by ROS-Industrial
-        proc_output.assertWaitFor("got segment base", timeout=5)
-        proc_output.assertWaitFor("got segment flange", timeout=5)
-        proc_output.assertWaitFor("got segment tool0", timeout=5)
+        # Check for robot initialization
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
diff --git a/kuka_iontec_support/test/test_kr_iontec.py b/kuka_iontec_support/test/test_kr_iontec.py
@@ -60,7 +60,5 @@ def generate_test_description(test_file):
 
 class TestModels(unittest.TestCase):
     def test_read_stdout(self, proc_output):
-        # Check for frames defined by ROS-Industrial
-        proc_output.assertWaitFor("got segment base", timeout=5)
-        proc_output.assertWaitFor("got segment flange", timeout=5)
-        proc_output.assertWaitFor("got segment tool0", timeout=5)
+        # Check for robot initialization
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
diff --git a/kuka_lbr_iisy_support/test/test_lbr_iisy.py b/kuka_lbr_iisy_support/test/test_lbr_iisy.py
@@ -56,7 +56,5 @@ def generate_test_description(test_file):
 
 class TestModels(unittest.TestCase):
     def test_read_stdout(self, proc_output):
-        # Check for frames defined by ROS-Industrial
-        proc_output.assertWaitFor("got segment base", timeout=5)
-        proc_output.assertWaitFor("got segment flange", timeout=5)
-        proc_output.assertWaitFor("got segment tool0", timeout=5)
+        # Check for robot initialization
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
diff --git a/kuka_lbr_iiwa_support/test/test_lbr_iiwa.py b/kuka_lbr_iiwa_support/test/test_lbr_iiwa.py
@@ -56,7 +56,5 @@ def generate_test_description(test_file):
 
 class TestModels(unittest.TestCase):
     def test_read_stdout(self, proc_output):
-        # Check for frames defined by ROS-Industrial
-        proc_output.assertWaitFor("got segment base", timeout=5)
-        proc_output.assertWaitFor("got segment flange", timeout=5)
-        proc_output.assertWaitFor("got segment tool0", timeout=5)
+        # Check for robot initialization
+        proc_output.assertWaitFor("Robot initialized", timeout=5)
diff --git a/kuka_mock_hardware_interface/include/kuka_mock_hardware_interface/hardware_interface.hpp b/kuka_mock_hardware_interface/include/kuka_mock_hardware_interface/hardware_interface.hpp
@@ -37,8 +37,7 @@ static constexpr size_t POSITION_INTERFACE_INDEX = 0;
 static constexpr size_t VELOCITY_INTERFACE_INDEX = 1;
 static constexpr size_t ACCELERATION_INTERFACE_INDEX = 2;
 
-class HARDWARE_INTERFACE_PUBLIC KukaMockHardwareInterface
-: public hardware_interface::SystemInterface
+class KukaMockHardwareInterface : public hardware_interface::SystemInterface
 {
 public:
   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;

diff --git a/kuka_quantec_support/test/test_kr_quantec.py b/kuka_quantec_support/test/test_kr_quantec.py
@@ -56,7 +56,5 @@ def generate_test_description(test_file):
 
 class TestModels(unittest.TestCase):
     def test_read_stdout(self, proc_output):
-        # Check for frames defined by ROS-Industrial
-        proc_output.assertWaitFor("got segment base", timeout=5)
-        proc_output.assertWaitFor("got segment flange", timeout=5)
-        proc_output.assertWaitFor("got segment tool0", timeout=5)
+        # Check for robot initialization
+        proc_output.assertWaitFor("Robot initialized", timeout=5)