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

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merged 3 commits into from
Sep 4, 2024
Merged

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

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e170f3d
update industrial ci to use jazzy and ubuntu-24.04
PetoAdam Sep 2, 2024
a31b2c4
update hardware_interface.hpp with ros2_control changes
PetoAdam Sep 4, 2024
1963128
update stdout tests for new standard as alredy done on kuka_drivers o…
PetoAdam Sep 4, 2024
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4 changes: 2 additions & 2 deletions .github/workflows/industrial_ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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 }}
Expand All @@ -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:
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6 changes: 2 additions & 4 deletions kuka_agilus_support/test/test_kr_agilus.py
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Expand Up @@ -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)
6 changes: 2 additions & 4 deletions kuka_cybertech_support/test/test_kr_cybertech.py
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Expand Up @@ -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)
6 changes: 2 additions & 4 deletions kuka_fortec_support/test/test_kr_fortec.py
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Expand Up @@ -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)
6 changes: 2 additions & 4 deletions kuka_iontec_support/test/test_kr_iontec.py
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Expand Up @@ -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)
6 changes: 2 additions & 4 deletions kuka_lbr_iisy_support/test/test_lbr_iisy.py
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Expand Up @@ -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)
6 changes: 2 additions & 4 deletions kuka_lbr_iiwa_support/test/test_lbr_iiwa.py
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Expand Up @@ -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)
3 changes: 1 addition & 2 deletions kuka_mock_hardware_interface/include/kuka_mock_hardware_interface/hardware_interface.hpp
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Expand Up @@ -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;
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6 changes: 2 additions & 4 deletions kuka_quantec_support/test/test_kr_quantec.py
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Expand Up @@ -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)
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