Renamed ign to gz (#67)

Signed-off-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit ab810e7) # Conflicts: # .github/workflows/ci.yaml # Dockerfile/Dockerfile # README.md # gz_ros2_control/src/gz_ros2_control_plugin.cpp # gz_ros2_control/src/gz_system.cpp # gz_ros2_control_demos/config/gripper_controller.yaml # gz_ros2_control_demos/examples/example_gripper.cpp # gz_ros2_control_demos/launch/cart_example_effort.launch.py # gz_ros2_control_demos/launch/cart_example_position.launch.py # gz_ros2_control_demos/launch/cart_example_velocity.launch.py # gz_ros2_control_demos/launch/diff_drive_example.launch.py # gz_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py # gz_ros2_control_demos/launch/tricycle_drive_example.launch.py # gz_ros2_control_demos/package.xml # gz_ros2_control_demos/urdf/test_gripper_mimic_joint.xacro.urdf # ign_ros2_control/package.xml
ros-controls · Mar 1, 2023 · 0a0a34a · 0a0a34a
1 parent 6c4244d
commit 0a0a34a
Show file tree

Hide file tree

Showing 43 changed files with 1,115 additions and 336 deletions.
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -1,4 +1,4 @@
-name: Ignition ros2 control CI
+name: Gazebo-Sim ros2 control CI
 
 on:
   pull_request:
@@ -8,45 +8,91 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        version: [fortress]
+        include:
+          - docker-image: "ubuntu:22.04"
+            gz-version: "fortress"
+            ros-distro: "humble"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "fortress"
+            ros-distro: "rolling"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "garden"
+            ros-distro: "humble"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "garden"
+            ros-distro: "rolling"
     env:
-      IGNITION_VERSION: ${{ matrix.version }}
+      DOCKER_IMAGE: ${{ matrix.docker-image }}
+      GZ_VERSION: ${{ matrix.gz-version }}
+      ROS_DISTRO: ${{ matrix.ros-distro }}
     container:
-      image: ubuntu:22.04
+      image: ${{ matrix.docker-image }}
     steps:
     - uses: actions/checkout@v2
     - name: Setup colcon workspace
       id: configure
+      shell: bash
       run: |
         export DEBIAN_FRONTEND=noninteractive
         apt update -qq
-        apt install -qq -y lsb-release wget curl gnupg2
+        apt install -qq -y lsb-release wget curl gnupg2 git
         cd ..
         mkdir -p /home/ros2_ws/src
+        if [ "$ROS_DISTRO" == "rolling" ]; then
+          git clone https://github.com/gazebosim/ros_gz/
+        fi
+        if [ "$ROS_DISTRO" == "humble" ]; then
+          git clone https://github.com/gazebosim/ros_gz/ -b humble
+        fi
         cp -r gz_ros2_control /home/ros2_ws/src/
-        sh -c 'echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list'
-        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+        if [ "$GZ_VERSION" == "garden" ]; then
+          export GZ_DEPS="libgz-sim7-dev libgz-plugin2-dev"
+        fi
+
         apt-get update && apt-get upgrade -q -y
         apt-get update && apt-get install -qq -y \
           dirmngr \
           python3-colcon-ros \
           python3-colcon-common-extensions \
           python3-rosdep \
-          build-essential
+          build-essential \
+          ${GZ_DEPS}
+
+        if [ "$GZ_VERSION" == "garden" ]; then
+          export ROSDEP_ARGS="--skip-keys ros_gz_sim --skip-keys gz-plugin2 --skip-keys gz-sim7 --skip-keys gz-transport12 --skip-keys gz-math7 --skip-keys gz-msgs9"
+        fi
         cd /home/ros2_ws/src/
         rosdep init
         rosdep update
+<<<<<<< HEAD
         rosdep install --from-paths ./ -i -y --rosdistro humble --ignore-src
+=======
+        rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src ${ROSDEP_ARGS}
+>>>>>>> ab810e7 (Renamed ign to gz (#67))
     - name: Build project
       id: build
       run: |
         cd /home/ros2_ws/
+<<<<<<< HEAD
         . /opt/ros/humble/local_setup.sh
         colcon build --packages-up-to ign_ros2_control_demos
+=======
+        . /opt/ros/${ROS_DISTRO}/local_setup.sh
+        colcon build --packages-up-to gz_ros2_control_demos
+>>>>>>> ab810e7 (Renamed ign to gz (#67))
     - name: Run tests
       id: test
       run: |
         cd /home/ros2_ws/
+<<<<<<< HEAD
         . /opt/ros/humble/local_setup.sh
         colcon test --event-handlers console_direct+ --packages-select ign_ros2_control ign_ros2_control_demos
+=======
+        . /opt/ros/${ROS_DISTRO}/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos
+>>>>>>> ab810e7 (Renamed ign to gz (#67))
         colcon test-result
diff --git a/Dockerfile/Dockerfile b/Dockerfile/Dockerfile
@@ -1,7 +1,12 @@
 FROM ubuntu:20.04
 
 ENV DEBIAN_FRONTEND noninteractive
+<<<<<<< HEAD
 ENV IGNITION_VERSION fortress
+=======
+ENV GZ_VERSION fortress
+ENV ROS_DISTRO rolling
+>>>>>>> ab810e7 (Renamed ign to gz (#67))
 
 # Make sure everything is up to date before building from source
 RUN apt-get update \
@@ -39,4 +44,4 @@ RUN cd /home/ros2_ws/ \
 COPY entrypoint.sh /entrypoint.sh
 ENTRYPOINT ["/entrypoint.sh"]
 
-CMD ros2 launch ign_ros2_control_demos cart_example_position.launch.py
+CMD ros2 launch gz_ros2_control_demos cart_example_position.launch.py