Merge branch 'humble' into mergify/bp/humble/pr-742

ros-controls · Dec 11, 2023 · c33e12b · c33e12b
2 parents c329619 + 429820d
commit c33e12b
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diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -16,10 +16,10 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/setup-ros@0.3.4
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-tooling/action-ros-ci@0.2.6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}

diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -12,7 +12,7 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: actions/setup-python@v2
       with:
         python-version: '3.10'

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -11,8 +11,8 @@ jobs:
       matrix:
           linter: [cppcheck, copyright, lint_cmake]
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         distribution: rolling
@@ -35,8 +35,8 @@ jobs:
       matrix:
           linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         distribution: rolling

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -22,18 +22,18 @@ jobs:
         uses: docker/setup-buildx-action@v1
 
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_release
           tags: |
@@ -62,18 +62,18 @@ jobs:
         uses: docker/setup-buildx-action@v1
 
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_source
           tags: |

diff --git a/.github/workflows/foxy-abi-compatibility.yml b/.github/workflows/foxy-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: foxy

diff --git a/.github/workflows/galactic-abi-compatibility.yml b/.github/workflows/galactic-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: galactic

diff --git a/.github/workflows/galactic-rhel-binary-build.yml b/.github/workflows/galactic-rhel-binary-build.yml
@@ -22,7 +22,7 @@ jobs:
       ROS_DISTRO: galactic
     container: ghcr.io/ros-controls/ros:galactic-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: humble

diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -21,7 +21,7 @@ jobs:
       ROS_DISTRO: humble
     container: ghcr.io/ros-controls/ros:humble-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
@@ -28,7 +28,7 @@ jobs:
   pre_release:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ github.event.inputs.branch }}
       - name: industrial_ci

diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -58,22 +58,22 @@ jobs:
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Checkout ${{ inputs.ref }} on scheduled build
         if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
         if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3.0.11
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3.0.11
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -26,10 +26,10 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@0.3.4
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
       - uses: ros-tooling/action-ros-ci@0.2.6

diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
@@ -7,7 +7,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
     - uses: uesteibar/reviewer-lottery@v2
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
   abi_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: rolling

diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -22,7 +22,7 @@ jobs:
       ROS_DISTRO: rolling
     container: ghcr.io/ros-controls/ros:rolling-rhel
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: src/ros2_control
       - run: |

diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.35.1 (2023-11-27)
+-------------------
+
+2.35.0 (2023-11-14)
+-------------------
+
+2.34.0 (2023-11-08)
+-------------------
+
 2.33.0 (2023-10-11)
 -------------------
 

diff --git a/controller_interface/package.xml b/controller_interface/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>controller_interface</name>
-  <version>2.33.0</version>
+  <version>2.35.1</version>
   <description>Description of controller_interface</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>

diff --git a/controller_manager/CHANGELOG.rst b/controller_manager/CHANGELOG.rst
@@ -2,6 +2,22 @@
 Changelog for package controller_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.35.1 (2023-11-27)
+-------------------
+
+2.35.0 (2023-11-14)
+-------------------
+* Fix the controller sorting bug when the interfaces are not configured (fixes `#1164 <https://github.com/ros-controls/ros2_control/issues/1164>`_) (`#1165 <https://github.com/ros-controls/ros2_control/issues/1165>`_) (`#1166 <https://github.com/ros-controls/ros2_control/issues/1166>`_)
+* [CM] Use `robot_description` topic instead of parameter and don't crash on empty URDF 🦿 (backport `#940 <https://github.com/ros-controls/ros2_control/issues/940>`_) (`#1052 <https://github.com/ros-controls/ros2_control/issues/1052>`_)
+* Contributors: Sai Kishor Kothakota, Denis Stogl
+
+2.34.0 (2023-11-08)
+-------------------
+* [Humble] Controller sorting (`#1157 <https://github.com/ros-controls/ros2_control/issues/1157>`_)
+* Update spawner to accept controllers list and start them in sequence (backport `#1139 <https://github.com/ros-controls/ros2_control/issues/1139>`_) (`#1149 <https://github.com/ros-controls/ros2_control/issues/1149>`_)
+* Create doc file for chained controllers (backport `#985 <https://github.com/ros-controls/ros2_control/issues/985>`_) (`#1131 <https://github.com/ros-controls/ros2_control/issues/1131>`_)
+* Contributors: Sai Kishor Kothakota, mergify[bot]
+
 2.33.0 (2023-10-11)
 -------------------
 * Export of the get_cm_node_options() from robostack (`#1129 <https://github.com/ros-controls/ros2_control/issues/1129>`_) (`#1130 <https://github.com/ros-controls/ros2_control/issues/1130>`_)

diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -13,6 +13,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     pluginlib
     rclcpp
     realtime_tools
+    std_msgs
 )
 
 find_package(ament_cmake REQUIRED)
@@ -141,6 +142,17 @@ if(BUILD_TESTING)
     controller_manager_msgs
     ros2_control_test_assets
   )
+  ament_add_gmock(test_controller_manager_urdf_passing
+    test/test_controller_manager_urdf_passing.cpp
+  )
+  target_include_directories(test_controller_manager_urdf_passing PRIVATE include)
+  target_link_libraries(test_controller_manager_urdf_passing
+    controller_manager
+  )
+  ament_target_dependencies(test_controller_manager_urdf_passing
+    controller_manager_msgs
+    ros2_control_test_assets
+  )
 
   add_library(test_controller_with_interfaces SHARED test/test_controller_with_interfaces/test_controller_with_interfaces.cpp)
   target_include_directories(test_controller_with_interfaces PRIVATE include)