Merge branch 'master' into fix/on_error/controller_deactivation

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

@@ -2,7 +2,7 @@
 name: Good first issue
 about: Create an issue to welcome a new contributor into the community.
 title: ''
-labels: good-first-issue
+labels: ["good first issue"]
 assignees: ''
 
 ---

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

@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.humble.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest

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

@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble 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

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

@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs

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

@@ -28,6 +28,11 @@ on:
       - 'ros2_control.humble.repos'
       - 'codecov.yml'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master

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

@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:

.github/workflows/humble-pre-commit.yml

@@ -6,6 +6,10 @@ on:
     branches:
       - humble
 
+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

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

@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble 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

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

@@ -1,6 +1,6 @@
 name: Humble Semi-Binary Build
 # author: Denis Štogl <[email protected]>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,14 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
+  semi-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: ros2_control.humble.repos
+      ref_for_scheduled_build: humble
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true

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

@@ -0,0 +1,49 @@
+name: Humble Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/humble-semi-binary-downstream-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros_controls.humble.repos'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+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
+      upstream_workspace: ros2_control.humble.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we test the downstream packages, which are part of our organization
+      downstream_workspace: ros_controls.humble.repos
+      not_test_downstream: false
+  build-downstream-3rd-party:
+    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
+      upstream_workspace: ros2_control.humble.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we don't test the downstream packages, which are outside of our organization
+      downstream_workspace: downstream.humble.repos
+      not_test_downstream: true

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

@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.jazzy.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest

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

@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master 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

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

@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs

.github/workflows/jazzy-debian-build.yml

@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:

.github/workflows/jazzy-pre-commit.yml

@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+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

.github/workflows/jazzy-rhel-binary-build.yml

@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master 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

.github/workflows/jazzy-semi-binary-build.yml

@@ -1,6 +1,6 @@
 name: Jazzy Semi-Binary Build
 # author: Denis Štogl <[email protected]>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,14 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: jazzy
+      ros_repo: testing
+      upstream_workspace: ros2_control.jazzy.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true

.github/workflows/jazzy-semi-binary-downstream-build.yml

@@ -0,0 +1,49 @@
+name: Jazzy Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/jazzy-semi-binary-downstream-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros_controls.jazzy.repos'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+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: master
+      upstream_workspace: ros2_control.jazzy.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we test the downstream packages, which are part of our organization
+      downstream_workspace: ros_controls.jazzy.repos
+      not_test_downstream: false
+  build-downstream-3rd-party:
+    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: master
+      upstream_workspace: ros2_control.jazzy.repos
+      # we don't test this repository, we just build it
+      not_test_build: true
+      # we don't test the downstream packages, which are outside of our organization
+      downstream_workspace: downstream.jazzy.repos
+      not_test_downstream: true

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

@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest

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

@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master 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

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

@@ -11,6 +11,10 @@ on:
       - '**.yaml'
       - '.github/workflows/rolling-check-docs.yml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs

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

@@ -29,6 +29,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   build-on-humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master

.github/workflows/rolling-compatibility-jazzy-binary-build.yml

@@ -29,6 +29,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   build-on-jazzy:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master