Merge branch 'master' into rqt-jtc-robot-description

Author: christophfroehlich

Diff for: .github/ISSUE_TEMPLATE/good-first-issue.md

@@ -2,7 +2,7 @@
 name: Good first issue
 about: Create an issue to welcome a new contributor into the community.
 title: ''
-labels: good-first-issue
+labels: ["good first issue"]
 assignees: ''
 
 ---

Diff for: .github/dependabot.yml

@@ -18,10 +18,3 @@ updates:
     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"

Diff for: .github/mergify.yml

@@ -8,15 +8,6 @@ pull_request_rules:
         branches:
           - humble
 
-  - name: Backport to iron at reviewers discretion
-    conditions:
-      - base=master
-      - "label=backport-iron"
-    actions:
-      backport:
-        branches:
-          - iron
-
   - name: Ask to resolve conflict
     conditions:
       - conflict
@@ -32,14 +23,15 @@ pull_request_rules:
       - author=mergify[bot]
     actions:
         comment:
-          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich?
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?
 
   - name: development targets master branch
     conditions:
       - base!=master
       - author!=bmagyar
       - author!=destogl
       - author!=christophfroehlich
+      - author!=saikishor
       - author!=mergify[bot]
       - author!=dependabot[bot]
     actions:

Diff for: .github/workflows/humble-abi-compatibility.yml

@@ -8,20 +8,21 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-abi-compatibility.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-abi-compatibility.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'
+      - '**.xml'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: humble
-          ROS_REPO: testing
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
+    with:
+      ros_distro: humble

Diff for: .github/workflows/humble-binary-build.yml

@@ -11,27 +11,36 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'
+      - '**.xml'
   push:
     branches:
       - humble
     paths:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'
+      - '**.xml'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master

Diff for: .github/workflows/humble-check-docs.yml

@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs

Diff for: .github/workflows/humble-coverage-build.yml

@@ -8,25 +8,34 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-coverage-build.yml'
       - 'codecov.yml'
-      - '**.yaml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
+      - '**.xml'
   pull_request:
     branches:
       - humble
     paths:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-coverage-build.yml'
       - 'codecov.yml'
-      - '**.yaml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
+      - '**.xml'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   coverage_humble:

Diff for: .github/workflows/humble-debian-build.yml

@@ -8,15 +8,21 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-debian-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-debian-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
+      - '**.xml'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   humble_debian:

Diff for: .github/workflows/humble-pre-commit.yml

@@ -6,6 +6,10 @@ on:
     branches:
       - humble
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master

Diff for: .github/workflows/humble-rhel-semi-binary-build.yml

@@ -8,15 +8,22 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-rhel-semi-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-rhel-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
+      - '**.xml'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   humble_rhel_binary:
     name: Humble RHEL binary build

Diff for: .github/workflows/humble-semi-binary-build.yml

@@ -10,36 +10,52 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
+      - '**.xml'
   push:
     branches:
       - humble
     paths:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
-      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.py'
       - '**.yaml'
+      - '.github/workflows/humble-semi-binary-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
+      - '**.xml'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   semi_binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_REPO: [main, testing]
     with:
       ros_distro: humble
-      ros_repo: ${{ matrix.ROS_REPO }}
+      ros_repo: testing
       upstream_workspace: ros2_controllers.humble.repos
       ref_for_scheduled_build: humble
+  semi_binary_clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_controllers-not-released.humble.repos
+      ref_for_scheduled_build: humble
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true

Diff for: .github/workflows/humble-semi-binary-downstream-build.yml

@@ -0,0 +1,50 @@
+name: Humble Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/humble-semi-binary-downstream-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros_controls.humble.repos'
+      - '**.xml'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      ref_for_scheduled_build: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we test the downstream packages, which are part of our organization
+      downstream_workspace: ros_controls.humble.repos
+      not_test_downstream: false
+  build-downstream-3rd-party:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      ref_for_scheduled_build: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we don't test the downstream packages, which are outside of our organization
+      downstream_workspace: downstream.humble.repos
+      not_test_downstream: true

Diff for: .github/workflows/humble-source-build.yml

@@ -8,10 +8,13 @@ on:
       - '**.hpp'
       - '**.h'
       - '**.cpp'
+      - '**.py'
+      - '**.yaml'
       - '.github/workflows/humble-source-build.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
+      - '**.xml'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'