Merge remote-tracking branch 'origin/ros2-master' into add-saving-i-term

ros-controls · Jan 22, 2025 · 5c85901 · 5c85901
2 parents 16e7dcd + 6611872
commit 5c85901
Show file tree

Hide file tree

Showing 26 changed files with 235 additions and 17 deletions.
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -11,3 +11,10 @@ updates:
     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"
diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -1,5 +1,14 @@
 pull_request_rules:
 
+  - name: Backport to humble at reviewers discretion
+    conditions:
+      - base=ros2-master
+      - "label=backport-humble"
+    actions:
+      backport:
+        branches:
+          - humble
+
   - name: Ask to resolve conflict
     conditions:
       - conflict

diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -0,0 +1,18 @@
+name: Humble - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+
+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
diff --git a/.github/workflows/humble-build-binary.yml b/.github/workflows/humble-build-binary.yml
@@ -0,0 +1,35 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Humble - Binary Build
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+
+jobs:
+  binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: control_toolbox-not-released.humble.repos
+      ref_for_scheduled_build: humble
+  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: control_toolbox-not-released.humble.repos
+      ref_for_scheduled_build: humble
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/.github/workflows/humble-build-coverage.yml b/.github/workflows/humble-build-coverage.yml
@@ -0,0 +1,17 @@
+name: Humble - Coverage Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  coverage_humble:
+    name: coverage build - humble
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: humble
diff --git a/.github/workflows/humble-build-downstream.yml b/.github/workflows/humble-build-downstream.yml
@@ -0,0 +1,23 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Humble - Downstream Build
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+
+
+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
+      not_test_build: true
+      downstream_workspace: ros_controls.humble.repos
+      not_test_downstream: true
diff --git a/.github/workflows/humble-build-semi-binary.yml b/.github/workflows/humble-build-semi-binary.yml
@@ -0,0 +1,24 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Humble - Semi-Binary Build
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+
+jobs:
+  semi-binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: control_toolbox.humble.repos
+      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-build-source.yml b/.github/workflows/humble-build-source.yml
@@ -0,0 +1,19 @@
+name: Humble - Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
+    with:
+      ros_distro: humble
+      ref: humble
+      ros2_repo_branch: humble
+      os_name: ubuntu-22.04
+      container: ""
diff --git a/.github/workflows/humble-ci-pre-commit.yml b/.github/workflows/humble-ci-pre-commit.yml
@@ -0,0 +1,13 @@
+name: Humble - Pre-Commit
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,18 @@
+name: Humble - Debian Source Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 5 * * *'
+
+
+jobs:
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: humble
+      upstream_workspace: control_toolbox.humble.repos
+      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -0,0 +1,18 @@
+name: Humble - RHEL Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: humble
+      upstream_workspace: control_toolbox.humble.repos
+      ref_for_scheduled_build: humble
diff --git a/.github/workflows/abi-compatibility.yml → ...b/workflows/rolling-abi-compatibility.yml b/.github/workflows/abi-compatibility.yml → ...b/workflows/rolling-abi-compatibility.yml
@@ -11,12 +11,12 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, humble]
+        ROS_DISTRO: [rolling, jazzy]
     steps:
       - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
-          ROS_REPO: main
+          ROS_REPO: testing
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/build-binary.yml → .github/workflows/rolling-build-binary.yml b/.github/workflows/build-binary.yml → .github/workflows/rolling-build-binary.yml
@@ -4,6 +4,8 @@
 name: Binary Build
 on:
   pull_request:
+    branches:
+      - ros2-master
   push:
     branches:
       - ros2-master
@@ -18,7 +20,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, humble]
+        ROS_DISTRO: [rolling, jazzy]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

diff --git a/.github/workflows/build-coverage.yml → .github/workflows/rolling-build-coverage.yml b/.github/workflows/build-coverage.yml → .github/workflows/rolling-build-coverage.yml
diff --git a/.github/workflows/build-downstream.yml → ...ub/workflows/rolling-build-downstream.yml b/.github/workflows/build-downstream.yml → ...ub/workflows/rolling-build-downstream.yml
@@ -4,6 +4,8 @@
 name: Downstream Build
 on:
   pull_request:
+    branches:
+      - ros2-master
   push:
     branches:
       - ros2-master
@@ -15,7 +17,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, humble]
+        ROS_DISTRO: [rolling, jazzy]
         ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

diff --git a/.github/workflows/build-semi-binary.yml → ...b/workflows/rolling-build-semi-binary.yml b/.github/workflows/build-semi-binary.yml → ...b/workflows/rolling-build-semi-binary.yml
@@ -4,6 +4,8 @@
 name: Semi-Binary Build
 on:
   pull_request:
+    branches:
+      - ros2-master
   push:
     branches:
       - ros2-master
@@ -18,7 +20,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, humble]
+        ROS_DISTRO: [rolling, jazzy]
         ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

diff --git a/.github/workflows/build-source.yml → .github/workflows/rolling-build-source.yml b/.github/workflows/build-source.yml → .github/workflows/rolling-build-source.yml
@@ -15,9 +15,6 @@ jobs:
       fail-fast: false
       matrix:
         include:
-        - ROS_DISTRO: humble
-          CONTAINER: ""
-          OS_NAME: ubuntu-22.04
         - ROS_DISTRO: jazzy
           CONTAINER: ubuntu:24.04
           OS_NAME: ubuntu-latest

diff --git a/.github/workflows/ci-pre-commit.yml → .github/workflows/rolling-ci-pre-commit.yml b/.github/workflows/ci-pre-commit.yml → .github/workflows/rolling-ci-pre-commit.yml
@@ -3,13 +3,15 @@ name: Pre-Commit
 on:
   workflow_dispatch:
   pull_request:
+    branches:
+      - ros2-master
 
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy, rolling]
+        ROS_DISTRO: [jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/debian-build.yml → .github/workflows/rolling-debian-build.yml b/.github/workflows/debian-build.yml → .github/workflows/rolling-debian-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, humble]
+        ROS_DISTRO: [rolling, jazzy]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: control_toolbox.${{ matrix.ROS_DISTRO }}.repos

diff --git a/.github/workflows/rhel-semi-binary-build.yml → ...kflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rhel-semi-binary-build.yml → ...kflows/rolling-rhel-semi-binary-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, humble]
+        ROS_DISTRO: [rolling, jazzy]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: control_toolbox.${{ matrix.ROS_DISTRO }}.repos

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package control_toolbox
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.0 (2025-01-15)
+------------------
+* Update plugin lib exception handling (`#263 <https://github.com/ros-controls/control_toolbox/issues/263>`_)
+* Fix control_filters tests (`#261 <https://github.com/ros-controls/control_toolbox/issues/261>`_)
+* Fix lifecycle warning in test (`#262 <https://github.com/ros-controls/control_toolbox/issues/262>`_)
+* Add missing exponential filter tests and export (`#260 <https://github.com/ros-controls/control_toolbox/issues/260>`_)
+* Remove visibility boilerplate code (`#258 <https://github.com/ros-controls/control_toolbox/issues/258>`_)
+* Add filter plugin for exponential filter (`#231 <https://github.com/ros-controls/control_toolbox/issues/231>`_)
+* Bump version of pre-commit hooks (`#255 <https://github.com/ros-controls/control_toolbox/issues/255>`_)
+* change the realtime_tools header extensions (`#247 <https://github.com/ros-controls/control_toolbox/issues/247>`_)
+* Contributors: Christoph Fröhlich, Julia Jia, Sai Kishor Kothakota, github-actions[bot]
+
 3.4.0 (2024-12-08)
 ------------------
 * Add job for clang build (`#239 <https://github.com/ros-controls/control_toolbox/issues/239>`_)

diff --git a/README.md b/README.md
@@ -11,9 +11,9 @@ See the documentation of [ros2_control](http://control.ros.org) and release info
 ## Build status
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`ros2-master`](https://github.com/ros-controls/control_toolbox/tree/ros2-master) | [![Binary Build](https://github.com/ros-controls/control_toolbox/actions/workflows/build-binary.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/build-binary.yml?branch=ros2-master) <br /> [![Rolling Source Build](https://github.com/ros-controls/control_toolbox/actions/workflows/build-source.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/build-source.yml?branch=ros2-master) | [API](http://docs.ros.org/en/rolling/p/control_toolbox/)  | [control_toolbox](https://index.ros.org/p/control_toolbox/#rolling)
+**Rolling** | [`ros2-master`](https://github.com/ros-controls/control_toolbox/tree/ros2-master) | [![Binary Build](https://github.com/ros-controls/control_toolbox/actions/workflows/rolling-build-binary.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/rolling-build-binary.yml?branch=ros2-master) <br /> [![Source Build](https://github.com/ros-controls/control_toolbox/actions/workflows/rolling-build-source.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/rolling-build-source.yml?branch=ros2-master) | [API](http://docs.ros.org/en/rolling/p/control_toolbox/)  | [control_toolbox](https://index.ros.org/p/control_toolbox/#rolling)
 **Jazzy** | [`ros2-master`](https://github.com/ros-controls/control_toolbox/tree/ros2-master) | see above | [API](http://docs.ros.org/en/jazzy/p/control_toolbox/) | [control_toolbox](https://index.ros.org/p/control_toolbox/#jazzy)
-**Humble** | [`ros2-master`](https://github.com/ros-controls/control_toolbox/tree/ros2-master) | see above | [API](http://docs.ros.org/en/humble/p/control_toolbox/) | [control_toolbox](https://index.ros.org/p/control_toolbox/#humble)
+**Humble** | [`humble`](https://github.com/ros-controls/control_toolbox/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/control_toolbox/actions/workflows/humble-build-binary.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/humble-build-binary.yml?branch=ros2-master) <br /> [![Humble Source Build](https://github.com/ros-controls/control_toolbox/actions/workflows/humble-build-source.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/humble-build-source.yml?branch=ros2-master) | [API](http://docs.ros.org/en/humble/p/control_toolbox/) | [control_toolbox](https://index.ros.org/p/control_toolbox/#humble)
 
 ## Publication
 

diff --git a/include/control_filters/exponential_filter.hpp b/include/control_filters/exponential_filter.hpp
@@ -22,7 +22,7 @@
 #include "filters/filter_base.hpp"
 
 #include "control_toolbox/filters.hpp"
-#include "exponential_filter_parameters.hpp"
+#include "control_toolbox/exponential_filter_parameters.hpp"
 
 namespace control_filters
 {

diff --git a/include/control_filters/low_pass_filter.hpp b/include/control_filters/low_pass_filter.hpp
@@ -22,7 +22,7 @@
 #include "geometry_msgs/msg/wrench_stamped.hpp"
 
 #include "control_toolbox/low_pass_filter.hpp"
-#include "low_pass_filter_parameters.hpp"
+#include "control_toolbox/low_pass_filter_parameters.hpp"
 
 namespace control_filters
 {

diff --git a/include/control_filters/rate_limiter.hpp b/include/control_filters/rate_limiter.hpp
@@ -24,7 +24,7 @@
 #include "filters/filter_base.hpp"
 
 #include "control_toolbox/rate_limiter.hpp"
-#include "rate_limiter_parameters.hpp"
+#include "control_toolbox/rate_limiter_parameters.hpp"
 
 namespace control_filters
 {