Merge branch 'master' into effort_group_position_controller

.clang-format

@@ -0,0 +1,14 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+ColumnLimit: 100
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeBlocks: Preserve

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,32 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Environment (please complete the following information):**
+ - OS: [e.g. iOS]
+ - Version [e.g. Foxy]
+- Anything that may be unusual about your environment
+
+**Additional context**
+Add any other context about the problem here, especially include any modifications to any ros2_controllers that relate to this issue.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/good-first-issue.md

@@ -0,0 +1,60 @@
+---
+name: Good first issue
+about: Create an issue to welcome a new contributor into the community.
+title: ''
+labels: good-first-issue
+assignees: ''
+
+---
+
+## Background
+
+Overview of your issue here.
+
+## Instructions
+Hi, this is a `good-first-issue` issue. This means we've worked to make it more legible to people who either **haven't contributed to our codebase before, or even folks who haven't contributed to open source before**.
+
+We're interested in helping you take the first step, and can answer questions and help you out along the way. Note that we're especially interested in contributions from underrepresented groups!
+
+We know that creating a pull request is the biggest barrier for new contributors. This issue is for you 💝
+
+If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/ros-controls/ros2_controllers/labels/bug) issues. Thanks!
+
+### 🤔 What you will need to know.
+
+Nothing. This issue is meant to welcome you to Open Source :) We are happy to walk you through the process.
+
+### 📋 Step by Step
+
+- [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
+
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/rolling/Tutorials/Workspace/Creating-A-Workspace.html), for Step3 use "Download Source Code" section with [these instructions](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source).
+
+- [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ws_ros2_control/src/ros-controls/ros2_controllers`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `ros2_controllers` folder before cloning your own fork)
+
+- [ ] **Checkout a new branch** using `git checkout -b <branch_name>`
+
+- [ ] 🤖 **Apply `pre-commit`** auto formatting, by running `pip3 install pre-commit` and running `pre-commit install` in the ros2_control repo.
+
+- [ ] 💾 **Commit and Push** your changes
+
+- [ ] 🔀 **Start a Pull Request** to request to merge your code into `master`. There are two ways that you can start a pull request:
+1. If you are not familiar with GitHub or how to create a pull request, [here is a guide you can follow](https://guides.github.com/activities/hello-world/) on how GitHub works.
+
+- [ ] 🏁 **Done** Ask in comments for a review :)
+
+### Is someone else already working on this?
+
+🔗- We encourage contributors to link to the original issue in their pull request so all users can easily see if someone's already started on it.
+
+👥- **If someone seems stuck, offer them some help!**
+
+### 🤔❓ Questions?
+
+Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below!
+Furthermore, you find helpful resources here:
+* [ROS2 Control Contribution Guide](https://control.ros.org/master/doc/contributing/contributing.html)
+* [ROS2 Tutorials](https://docs.ros.org/en/rolling/Tutorials.html)
+* [Robotics Stack Exchange](https://robotics.stackexchange.com)
+
+**Good luck with your first issue!**

.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/mergify.yml

@@ -0,0 +1,50 @@
+pull_request_rules:
+  - name: Backport to humble at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-humble"
+    actions:
+      backport:
+        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
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @{{author}}?
+
+  - name: Ask to resolve conflict for backports
+    conditions:
+      - conflict
+      - author=mergify[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich?
+
+  - name: development targets master branch
+    conditions:
+      - base!=master
+      - author!=bmagyar
+      - author!=destogl
+      - author!=christophfroehlich
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: |
+            @{{author}}, all pull requests must be targeted towards the `master` development branch.
+            Once merged into `master`, it is possible to backport to `{{base}}`, but it must be in `master`
+            to have these changes reflected into new distributions.

.github/pull_request_template.md

@@ -0,0 +1,16 @@
+Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:
+
+1. Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
+2. Give your PR a descriptive title. Add a short summary, if required.
+3. Make sure the pipeline is green.
+4. Don’t be afraid to request reviews from maintainers.
+5. New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.
+
+To send us a pull request, please:
+
+- [ ] Fork the repository.
+- [ ] Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
+- [ ] Ensure local tests pass. (`colcon test` and `pre-commit run` (requires you to install pre-commit by `pip3 install pre-commit`)
+- [ ] Commit to your fork using clear commit messages.
+- [ ] Send a pull request, answering any default questions in the pull request interface.
+- [ ] Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

.github/workflows/humble-abi-compatibility.yml

@@ -0,0 +1,27 @@
+name: Humble - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-abi-compatibility.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.humble.repos'
+
+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

.github/workflows/humble-binary-build.yml

@@ -0,0 +1,46 @@
+name: Humble Binary Build
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.humble.repos'
+  push:
+    branches:
+      - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.humble.repos'
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  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 }}
+      upstream_workspace: ros2_controllers-not-released.humble.repos
+      ref_for_scheduled_build: humble

.github/workflows/humble-check-docs.yml

@@ -0,0 +1,18 @@
+name: Humble Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@humble
+    with:
+      ROS2_CONTROLLERS_PR: ${{ github.ref }}