Merge branch 'master' into mimic_joints

.github/dependabot.yml

@@ -0,0 +1,27 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for all configuration options:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    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/workflows/ci-check-docs.yml

@@ -0,0 +1,12 @@
+name: Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@master
+    with:
+      GAZEBO_ROS2_CONTROL_PR: ${{ github.ref }}

.github/workflows/ci-format.yaml

@@ -0,0 +1,23 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.10.6
+    - name: Install system hooks
+      run: sudo apt install -qq cppcheck ament-cmake-uncrustify ament-cmake-pep257
+    - uses: pre-commit/action@v3.0.1
+      with:
+        extra_args: --all-files --hook-stage manual

.github/workflows/ci-humble.yaml

@@ -0,0 +1,83 @@
+name: gazebo_ros2_control CI - Humble
+
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+    steps:
+    - uses: actions/checkout@v4
+    - name: Setup colcon workspace
+      id: configure
+      run: |
+        cd ..
+        mkdir -p /home/ros2_ws/src
+        cp -r gazebo_ros2_control /home/ros2_ws/src/
+        apt-get update && apt-get upgrade -q -y
+        apt-get update && apt-get install -q -y --no-install-recommends \
+          dirmngr \
+          gnupg2 \
+          lsb-release \
+          python3-colcon-ros
+        cd /home/ros2_ws/src/
+        rosdep update
+        rosdep install --from-paths ./ -i -y --rosdistro humble \
+          --ignore-src
+    - name: Build project
+      id: build
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/humble/local_setup.sh
+        colcon build --packages-up-to gazebo_ros2_control_demos
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/humble/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
+        colcon test-result
+  build_testing:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-desktop
+    steps:
+    - uses: actions/checkout@v4
+    - name: Setup colcon workspace
+      id: configure
+      run: |
+        cd ..
+        mkdir -p /home/ros2_ws/src
+        cp -r gazebo_ros2_control /home/ros2_ws/src/
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+        apt-get update && apt-get upgrade -q -y
+        apt-get update && apt-get install -q -y --no-install-recommends \
+          dirmngr \
+          gnupg2 \
+          lsb-release \
+          python3-colcon-ros
+        cd /home/ros2_ws/src/
+        rosdep update
+        rosdep install --from-paths ./ -i -y --rosdistro humble \
+          --ignore-src
+    - name: Build project
+      id: build
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/humble/local_setup.sh
+        colcon build --packages-up-to gazebo_ros2_control_demos
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/humble/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
+        colcon test-result

.github/workflows/ci-iron.yaml

@@ -0,0 +1,83 @@
+name: gazebo_ros2_control CI - iron
+
+on:
+  pull_request:
+    branches:
+      - iron
+  push:
+    branches:
+      - iron
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:iron-desktop
+    steps:
+    - uses: actions/checkout@v4
+    - name: Setup colcon workspace
+      id: configure
+      run: |
+        cd ..
+        mkdir -p /home/ros2_ws/src
+        cp -r gazebo_ros2_control /home/ros2_ws/src/
+        apt-get update && apt-get upgrade -q -y
+        apt-get update && apt-get install -q -y --no-install-recommends \
+          dirmngr \
+          gnupg2 \
+          lsb-release \
+          python3-colcon-ros
+        cd /home/ros2_ws/src/
+        rosdep update
+        rosdep install --from-paths ./ -i -y --rosdistro iron \
+          --ignore-src
+    - name: Build project
+      id: build
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/iron/local_setup.sh
+        colcon build --packages-up-to gazebo_ros2_control_demos
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/iron/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
+        colcon test-result
+  build_testing:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:iron-desktop
+    steps:
+    - uses: actions/checkout@v4
+    - name: Setup colcon workspace
+      id: configure
+      run: |
+        cd ..
+        mkdir -p /home/ros2_ws/src
+        cp -r gazebo_ros2_control /home/ros2_ws/src/
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+        apt-get update && apt-get upgrade -q -y
+        apt-get update && apt-get install -q -y --no-install-recommends \
+          dirmngr \
+          gnupg2 \
+          lsb-release \
+          python3-colcon-ros
+        cd /home/ros2_ws/src/
+        rosdep update
+        rosdep install --from-paths ./ -i -y --rosdistro iron \
+          --ignore-src
+    - name: Build project
+      id: build
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/iron/local_setup.sh
+        colcon build --packages-up-to gazebo_ros2_control_demos
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/iron/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
+        colcon test-result

.github/workflows/ci.yaml → .github/workflows/ci-rolling.yaml

@@ -1,17 +1,20 @@
-name: Gazebo ros2 control CI
+name: gazebo_ros2_control - Rolling
 
 on:
   pull_request:
+    branches:
+      - master
   push:
-    branches: [ master ]
+    branches:
+      - master
 
 jobs:
   build:
     runs-on: ubuntu-latest
     container:
       image: osrf/ros:rolling-desktop
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Setup colcon workspace
       id: configure
       run: |
@@ -46,14 +49,15 @@ jobs:
     container:
       image: osrf/ros:rolling-desktop
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Setup colcon workspace
       id: configure
       run: |
         cd ..
         mkdir -p /home/ros2_ws/src
         cp -r gazebo_ros2_control /home/ros2_ws/src/
-        sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
         apt-get update && apt-get upgrade -q -y
         apt-get update && apt-get install -q -y --no-install-recommends \
           dirmngr \