diff --git a/.github/mergify.yml b/.github/mergify.yml deleted file mode 100644 index 87cab25c8..000000000 --- a/.github/mergify.yml +++ /dev/null @@ -1,18 +0,0 @@ -pull_request_rules: - - name: Backport to galactic branch - conditions: - - base=main - - label=backport-galactic - actions: - backport: - branches: - - galactic - - - name: Backport to foxy branch - conditions: - - base=main - - label=backport-foxy - actions: - backport: - branches: - - foxy diff --git a/.github/workflows/foxy-binary-build.yml b/.github/workflows/foxy-binary-build.yml deleted file mode 100644 index 2b27fd897..000000000 --- a/.github/workflows/foxy-binary-build.yml +++ /dev/null @@ -1,29 +0,0 @@ -name: Foxy Binary Build -on: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '58 11 * * *' - -jobs: - foxy_binary: - name: foxy binary build - runs-on: ubuntu-latest - strategy: - max-parallel: 1 - matrix: - env: - - {ROS_DISTRO: foxy, ROS_REPO: main} - - {ROS_DISTRO: foxy, ROS_REPO: testing} - env: - DOCKER_RUN_OPTS: --network static_test_net - BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' - IMMEDIATE_TEST_OUTPUT: true - steps: - - uses: actions/checkout@v1 - with: - ref: foxy - - name: start ursim - run: | - .github/dockerursim/build_and_run_docker_ursim.sh - - uses: 'ros-industrial/industrial_ci@master' - env: ${{matrix.env}} diff --git a/.github/workflows/foxy-semi-binary-build.yml b/.github/workflows/foxy-semi-binary-build.yml deleted file mode 100644 index 7bd8fbe1d..000000000 --- a/.github/workflows/foxy-semi-binary-build.yml +++ /dev/null @@ -1,30 +0,0 @@ -name: Foxy Semi-Binary Build -on: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '23 5 * * *' - -jobs: - foxy_semi_binary: - name: foxy semi-binary build - runs-on: ubuntu-latest - strategy: - max-parallel: 1 - matrix: - env: - - {ROS_DISTRO: foxy, ROS_REPO: main} - - {ROS_DISTRO: foxy, ROS_REPO: testing} - env: - UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver.repos - DOCKER_RUN_OPTS: --network static_test_net - BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' - IMMEDIATE_TEST_OUTPUT: true - steps: - - uses: actions/checkout@v1 - with: - ref: foxy - - name: start ursim - run: | - .github/dockerursim/build_and_run_docker_ursim.sh - - uses: 'ros-industrial/industrial_ci@master' - env: ${{matrix.env}} diff --git a/.github/workflows/galactic-binary-build.yml b/.github/workflows/galactic-binary-build.yml deleted file mode 100644 index 0d1aca02a..000000000 --- a/.github/workflows/galactic-binary-build.yml +++ /dev/null @@ -1,26 +0,0 @@ -name: Galactic Binary Build -on: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 4 * * *' - -jobs: - galactic_binary: - name: galactic binary build - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [galactic] - ROS_REPO: [main, testing] - env: - NOT_TEST_BUILD: true - NOT_TEST_DOWNSTREAM: true - steps: - - uses: actions/checkout@v1 - with: - ref: galactic - - uses: 'ros-industrial/industrial_ci@master' - env: - ROS_DISTRO: ${{ matrix.ROS_DISTRO }} - ROS_REPO: ${{ matrix.ROS_REPO }} diff --git a/.github/workflows/galactic-execution-test.yml b/.github/workflows/galactic-execution-test.yml deleted file mode 100644 index e95664a85..000000000 --- a/.github/workflows/galactic-execution-test.yml +++ /dev/null @@ -1,33 +0,0 @@ -name: Galactic Execution Test -on: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 22 * * *' - workflow_dispatch: - -jobs: - binary_test: - name: binary execution test - runs-on: ubuntu-latest - strategy: - fail-fast: false - max-parallel: 1 - matrix: - ROS_DISTRO: [galactic] - ROS_REPO: [main, testing] - env: - DOCKER_RUN_OPTS: --network static_test_net - BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' - IMMEDIATE_TEST_OUTPUT: true - PARALLEL_TESTS: 2 - steps: - - uses: actions/checkout@v1 - with: - ref: galactic - - name: start ursim - run: | - .github/dockerursim/build_and_run_docker_ursim.sh - - uses: 'ros-industrial/industrial_ci@master' - env: - ROS_DISTRO: ${{ matrix.ROS_DISTRO }} - ROS_REPO: ${{ matrix.ROS_REPO }} diff --git a/.github/workflows/galactic-semi-binary-build.yml b/.github/workflows/galactic-semi-binary-build.yml deleted file mode 100644 index b6f87063c..000000000 --- a/.github/workflows/galactic-semi-binary-build.yml +++ /dev/null @@ -1,27 +0,0 @@ -name: Galactic Semi-Binary Build -on: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '23 5 * * *' - -jobs: - galactic_semi_binary: - name: galacitc semi-binary build - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [galactic] - ROS_REPO: [main, testing] - env: - UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver.${{ matrix.ROS_DISTRO }}.repos - NOT_TEST_BUILD: true - NOT_TEST_DOWNSTREAM: true - steps: - - uses: actions/checkout@v1 - with: - ref: galactic - - uses: 'ros-industrial/industrial_ci@master' - env: - ROS_DISTRO: ${{ matrix.ROS_DISTRO }} - ROS_REPO: ${{ matrix.ROS_REPO }} diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml index 032b3403c..f67dcee43 100644 --- a/.github/workflows/humble-binary-build.yml +++ b/.github/workflows/humble-binary-build.yml @@ -6,9 +6,6 @@ on: push: branches: - humble - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '13 4 * * *' jobs: humble_binary: diff --git a/.github/workflows/humble-execution-test.yml b/.github/workflows/humble-execution-test.yml deleted file mode 100644 index 375ef2ee1..000000000 --- a/.github/workflows/humble-execution-test.yml +++ /dev/null @@ -1,34 +0,0 @@ -name: Humble Execution Test -on: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 22 * * *' - workflow_dispatch: - -jobs: - binary_test: - name: binary execution test - runs-on: ubuntu-latest - strategy: - fail-fast: false - max-parallel: 1 - matrix: - ROS_DISTRO: [humble] - ROS_REPO: [main, testing] - env: - UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver-not-released.${{ matrix.ROS_DISTRO }}.repos - DOCKER_RUN_OPTS: --network static_test_net - BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' - IMMEDIATE_TEST_OUTPUT: true - PARALLEL_TESTS: 2 - steps: - - uses: actions/checkout@v1 - with: - ref: main - - name: start ursim - run: | - .github/dockerursim/build_and_run_docker_ursim.sh - - uses: 'ros-industrial/industrial_ci@master' - env: - ROS_DISTRO: ${{ matrix.ROS_DISTRO }} - ROS_REPO: ${{ matrix.ROS_REPO }} diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml index 637ae4457..b29fca047 100644 --- a/.github/workflows/humble-semi-binary-build.yml +++ b/.github/workflows/humble-semi-binary-build.yml @@ -6,9 +6,6 @@ on: push: branches: - humble - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 5 * * *' jobs: humble_semi_binary: diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml index 957caaeb6..c1b73000d 100644 --- a/.github/workflows/humble-source-build.yml +++ b/.github/workflows/humble-source-build.yml @@ -2,10 +2,7 @@ name: Humble Source Build on: push: branches: - - main - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '43 1 * * *' + - humble jobs: humble_source: diff --git a/.github/workflows/issue-states.yml b/.github/workflows/issue-states.yml deleted file mode 100644 index 25ee90520..000000000 --- a/.github/workflows/issue-states.yml +++ /dev/null @@ -1,15 +0,0 @@ -name: 'Set issue state' - -on: - project_card: - types: [created, edited, moved] - -jobs: - set-state: - runs-on: ubuntu-latest - steps: - - uses: dessant/issue-states@v2 - with: - github-token: ${{ github.token }} - open-issue-columns: 'To do, In progress, Under Review' - closed-issue-columns: 'Done' diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml deleted file mode 100644 index cdea3b7b6..000000000 --- a/.github/workflows/rolling-binary-build.yml +++ /dev/null @@ -1,31 +0,0 @@ -name: Rolling Binary Build -on: - pull_request: - branches: - - main - push: - branches: - - main - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '13 4 * * *' - -jobs: - rolling_binary: - name: rolling binary build - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [rolling] - ROS_REPO: [main, testing] - env: - UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver-not-released.${{ matrix.ROS_DISTRO }}.repos - NOT_TEST_BUILD: true - NOT_TEST_DOWNSTREAM: true - steps: - - uses: actions/checkout@v1 - - uses: 'ros-industrial/industrial_ci@master' - env: - ROS_DISTRO: ${{ matrix.ROS_DISTRO }} - ROS_REPO: ${{ matrix.ROS_REPO }} diff --git a/.github/workflows/rolling-execution-test.yml b/.github/workflows/rolling-execution-test.yml deleted file mode 100644 index b33901e88..000000000 --- a/.github/workflows/rolling-execution-test.yml +++ /dev/null @@ -1,34 +0,0 @@ -name: Rolling Execution Test -on: - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 22 * * *' - workflow_dispatch: - -jobs: - binary_test: - name: binary execution test - runs-on: ubuntu-latest - strategy: - fail-fast: false - max-parallel: 1 - matrix: - ROS_DISTRO: [rolling] - ROS_REPO: [main, testing] - env: - UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver-not-released.${{ matrix.ROS_DISTRO }}.repos - DOCKER_RUN_OPTS: --network static_test_net - BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' - IMMEDIATE_TEST_OUTPUT: true - PARALLEL_TESTS: 2 - steps: - - uses: actions/checkout@v1 - with: - ref: main - - name: start ursim - run: | - .github/dockerursim/build_and_run_docker_ursim.sh - - uses: 'ros-industrial/industrial_ci@master' - env: - ROS_DISTRO: ${{ matrix.ROS_DISTRO }} - ROS_REPO: ${{ matrix.ROS_REPO }} diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml deleted file mode 100644 index 2eeb9857b..000000000 --- a/.github/workflows/rolling-semi-binary-build.yml +++ /dev/null @@ -1,31 +0,0 @@ -name: Rolling Semi-Binary Build -on: - pull_request: - branches: - - main - push: - branches: - - main - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '03 5 * * *' - -jobs: - rolling_semi_binary: - name: rolling semi-binary build - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - ROS_DISTRO: [rolling] - ROS_REPO: [main, testing] - env: - UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver.${{ matrix.ROS_DISTRO }}.repos - NOT_TEST_BUILD: true - NOT_TEST_DOWNSTREAM: true - steps: - - uses: actions/checkout@v1 - - uses: 'ros-industrial/industrial_ci@master' - env: - ROS_DISTRO: ${{ matrix.ROS_DISTRO }} - ROS_REPO: ${{ matrix.ROS_REPO }} diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml deleted file mode 100644 index 3dc0de290..000000000 --- a/.github/workflows/rolling-source-build.yml +++ /dev/null @@ -1,44 +0,0 @@ -name: Rolling Source Build -on: - push: - branches: - - main - schedule: - # Run every morning to detect flakiness and broken dependencies - - cron: '43 1 * * *' - -jobs: - rolling_source: - runs-on: ubuntu-20.04 - strategy: - fail-fast: false - container: - image: ubuntu:jammy - env: - ROS_DISTRO: rolling - ros_version: 2 - steps: - - uses: ros-tooling/setup-ros@v0.3 - with: - required-ros-distributions: ${{ env.ROS_DISTRO }} - - uses: actions/checkout@v2 - - uses: ros-tooling/action-ros-ci@v0.2 - with: - target-ros2-distro: ${{ env.ROS_DISTRO }} - # build all packages listed in the meta package - package-name: - ur - ur_bringup - ur_controllers - ur_dashboard_msgs - ur_moveit_config - ur_robot_driver - vcs-repo-file-url: | - https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos - https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver.${{ env.ROS_DISTRO }}.repos - colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml - skip-tests: true - - uses: actions/upload-artifact@v1 - with: - name: colcon-logs-${{ matrix.os }} - path: ros_ws/log diff --git a/README.md b/README.md index 20ff28f70..a612ad7f6 100644 --- a/README.md +++ b/README.md @@ -27,7 +27,7 @@ Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) a Branch foxy galactic - main + humble main @@ -61,16 +61,16 @@ Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) a - - + Humble Binary Build
- - + Humble Semi-Binary Build
- - + Humble Source Build @@ -146,7 +146,8 @@ Deprecation: The `ur_bringup` package is deprecated and will be removed from Iro 1. [Install ROS2 Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html). For using this driver with ROS2 `foxy`. Checkout [foxy branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy), for using it - with ROS2 ``galactic``, use the [galactic branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic). + with ROS2 ``galactic``, use the [galactic branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic), for using it + with ROS2 ``humble``, use the [galactic branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/humble). 2. Make sure that `colcon`, its extensions and `vcs` are installed: ``` diff --git a/Universal_Robots_ROS2_Driver-not-released.rolling.repos b/Universal_Robots_ROS2_Driver-not-released.rolling.repos deleted file mode 100644 index f06f08bc9..000000000 --- a/Universal_Robots_ROS2_Driver-not-released.rolling.repos +++ /dev/null @@ -1,10 +0,0 @@ -# The not-released files are meant to use upstream packages in binary form whenever possible. -# Packages get added here, if they are not released at all or when the repo's current version -# requires a newer version than the one currently released to the target distributions. -# Once Upstream packages are released and synced to the target distributions in the required -# version, the entry in this file shall be removed again. -repositories: - ros2_controllers: - type: git - url: https://github.com/ros-controls/ros2_controllers.git - version: 2.13.0 diff --git a/Universal_Robots_ROS2_Driver.galactic.repos b/Universal_Robots_ROS2_Driver.galactic.repos deleted file mode 100644 index 28b4df264..000000000 --- a/Universal_Robots_ROS2_Driver.galactic.repos +++ /dev/null @@ -1,25 +0,0 @@ -repositories: - control_msgs: - type: git - url: https://github.com/ros-controls/control_msgs.git - version: galactic-devel - ros2_control: - type: git - url: https://github.com/ros-controls/ros2_control.git - version: galactic - ros2_controllers: - type: git - url: https://github.com/ros-controls/ros2_controllers.git - version: galactic - Universal_Robots_Client_Library: - type: git - url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git - version: master - Universal_Robots_ROS2_Description: - type: git - url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git - version: ros2 - ur_msgs: - type: git - url: https://github.com/ros-industrial/ur_msgs.git - version: foxy-devel diff --git a/Universal_Robots_ROS2_Driver.rolling.repos b/Universal_Robots_ROS2_Driver.rolling.repos deleted file mode 100644 index f9e948e30..000000000 --- a/Universal_Robots_ROS2_Driver.rolling.repos +++ /dev/null @@ -1,25 +0,0 @@ -repositories: - Universal_Robots_Client_Library: - type: git - url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git - version: master - Universal_Robots_ROS2_Description: - type: git - url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git - version: ros2 - ur_msgs: - type: git - url: https://github.com/ros-industrial/ur_msgs.git - version: foxy-devel - ros2_controllers: - type: git - url: https://github.com/ros-controls/ros2_controllers - version: master - kinematics_interface: - type: git - url: https://github.com/ros-controls/kinematics_interface.git - version: master - control_msgs: - type: git - url: https://github.com/ros-controls/control_msgs.git - version: humble diff --git a/ur_robot_driver/CHANGELOG.rst b/ur_robot_driver/CHANGELOG.rst index 12e7f99e0..8077ffd98 100644 --- a/ur_robot_driver/CHANGELOG.rst +++ b/ur_robot_driver/CHANGELOG.rst @@ -1,7 +1,6 @@ 2.2.5 (2022-11-19) ------------------ * ur_robot_driver: Controller_stopper fix deprecation warning - Use `activate_controllers` instead of `start_controllers`. * Fix tool voltage setup (`#526 `_) * Move BEGIN_REPLACE inside of header * Change default value of tool_voltage