Branch for jazzy (backport #263) (#266)

ros-controls · Jan 29, 2025 · a4b8511 · a4b8511
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Showing 21 changed files with 274 additions and 46 deletions.
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -11,6 +11,13 @@ 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: "jazzy"
   - package-ecosystem: "github-actions"
     # Workflow files stored in the
     # default location of `.github/workflows`

diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -8,6 +8,15 @@ pull_request_rules:
         branches:
           - humble
 
+  - name: Backport to jazzy at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-jazzy"
+    actions:
+      backport:
+        branches:
+          - jazzy
+
   - name: Ask to resolve conflict
     conditions:
       - conflict

diff --git a/.github/workflows/README.md b/.github/workflows/README.md
@@ -2,7 +2,8 @@
 
 ROS 2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** <br />**Jazzy** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
+**Rolling** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
+**Jazzy** | [`jazzy`](https://github.com/ros-controls/realtime_tools/tree/jazzy) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=jazzy)](https://github.com/ros-controls/realtime_tools/actions/workflows/jazzy-binary-build.yml?branch=jazzy) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/jazzy-source-build.yml/badge.svg?branch=jazzy)](https://github.com/ros-controls/realtime_tools/actions/workflows/jazzy-source-build.yml?branch=jazzy) | [API](http://docs.ros.org/en/jazzy/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#jazzy)
 **Humble** | [`humble`](https://github.com/ros-controls/realtime_tools/tree/humble) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml?branch=master) | [API](http://docs.ros.org/en/humble/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#humble)
 
 

diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
@@ -0,0 +1,17 @@
+name: Jazzy ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - jazzy
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  abi_check:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
+    with:
+      ros_distro: jazzy
diff --git a/.github/workflows/jazzy-binary-build-win.yml b/.github/workflows/jazzy-binary-build-win.yml
@@ -0,0 +1,34 @@
+name: Jazzy Windows Binary Build
+# author: Christoph Fröhlich <[email protected]>
+# description: 'Build & test all dependencies from released (binary) windows packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - jazzy
+    # types:
+    #   - labeled
+  push:
+    branches:
+      - jazzy
+  # issue_comment:
+  #   types:
+  #     - created
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  binary-windows:
+    # if: |
+    #   (github.event_name == 'issue_comment' && contains(github.event.comment.body, '/check-windows')) ||
+    #   (github.event_name == 'pull_request' && contains(github.event.label.name, 'check-windows')) ||
+    #   (github.event_name == 'workflow_dispatch')
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
+    with:
+      ros_distro: jazzy
+      ref_for_scheduled_build: jazzy
+      os_name: windows-2019
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
@@ -0,0 +1,43 @@
+name: Jazzy Binary Build
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - jazzy
+  push:
+    branches:
+      - jazzy
+  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 jazzy 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
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [jazzy]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      ref_for_scheduled_build: jazzy
+  binary_clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: jazzy
+      ros_repo: testing
+      ref_for_scheduled_build: jazzy
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/.github/workflows/jazzy-binary-downstream-build.yml b/.github/workflows/jazzy-binary-downstream-build.yml
@@ -0,0 +1,28 @@
+name: Jazzy Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - jazzy
+  push:
+    branches:
+      - jazzy
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: jazzy
+      ros_repo: testing
+      ref_for_scheduled_build: jazzy
+      not_test_build: true
+      downstream_workspace: ros_controls.jazzy.repos
+      not_test_downstream: true
diff --git a/.github/workflows/jazzy-coverage-build.yml b/.github/workflows/jazzy-coverage-build.yml
@@ -0,0 +1,22 @@
+name: Jazzy Coverage Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - jazzy
+  pull_request:
+    branches:
+      - jazzy
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  coverage:
+    name: coverage build
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: jazzy
diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
@@ -0,0 +1,21 @@
+name: Jazzy Debian Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - jazzy
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '33 2 * * *'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: jazzy
+      ref_for_scheduled_build: jazzy
diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml
@@ -0,0 +1,17 @@
+name: Jazzy Pre-Commit
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - jazzy
+
+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
+    with:
+      ros_distro: jazzy
diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml
@@ -0,0 +1,21 @@
+name: Jazzy RHEL Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - jazzy
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: jazzy
+      ref_for_scheduled_build: jazzy
diff --git a/.github/workflows/jazzy-rosdoc2.yml b/.github/workflows/jazzy-rosdoc2.yml
@@ -0,0 +1,20 @@
+name: Jazzy rosdoc2
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - jazzy
+    paths:
+      - doc/**
+      - rosdoc2.yaml
+      - package.xml
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  check:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rosdoc2.yml@master
diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml
@@ -0,0 +1,19 @@
+name: Jazzy Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - jazzy
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
+    with:
+      ros_distro: jazzy
+      ref: jazzy
+      ros2_repo_branch: jazzy
+      os_name: ubuntu-latest
+      container: ubuntu:24.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
@@ -13,15 +13,11 @@ concurrency:
 jobs:
   abi_check:
     runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [jazzy, rolling]
     steps:
       - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
-          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_DISTRO: rolling
           ROS_REPO: main
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
@@ -25,7 +25,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [jazzy, rolling]
+        ROS_DISTRO: [rolling]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

diff --git a/.github/workflows/rolling-binary-downstream-build.yml b/.github/workflows/rolling-binary-downstream-build.yml
@@ -19,15 +19,10 @@ concurrency:
 jobs:
   build-downstream:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [jazzy, rolling]
-        ROS_REPO: [testing]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: ${{ matrix.ROS_REPO }}
+      ros_distro: rolling
+      ros_repo: testing
       ref_for_scheduled_build: master
       not_test_build: true
-      downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      downstream_workspace: ros_controls.rolling.repos
       not_test_downstream: true
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -16,10 +16,6 @@ concurrency:
 jobs:
   debian_source_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [jazzy, rolling]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_distro: rolling
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
@@ -13,9 +13,5 @@ concurrency:
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [jazzy, rolling]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_distro: rolling
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -16,10 +16,6 @@ concurrency:
 jobs:
   rhel_semi_binary_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [jazzy, rolling]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_distro: rolling
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
@@ -11,19 +11,9 @@ on:
 jobs:
   source:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-        - ROS_DISTRO: jazzy
-          CONTAINER: ubuntu:24.04
-          OS_NAME: ubuntu-latest
-        - ROS_DISTRO: rolling
-          CONTAINER: ubuntu:24.04
-          OS_NAME: ubuntu-latest
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_distro: rolling
       ref: master
-      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
-      os_name: ${{ matrix.OS_NAME }}
-      container: ${{ matrix.CONTAINER }}
+      ros2_repo_branch: rolling
+      os_name: ubuntu-latest
+      container: ubuntu:24.04