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dzumkellerdzumkeller
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Merge branch 'add-control-filters-gravity-compensation' of https://github.com/StoglRobotics-forks/control_toolbox into add-control-filters-gravity-compensation
2 parents 2cecfd6 + f2d02af commit 978e590

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‎.github/workflows/build-coverage.yml

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name: Build Source
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on:
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push:
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branches:
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- ros2-master
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schedule:
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# Run every day to detect flakiness and broken dependencies
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- cron: '28 3 * * *'
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jobs:
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source:
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name: source build
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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steps:
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- uses: ros-tooling/[email protected]
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- uses: ros-tooling/[email protected]
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with:
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target-ros2-distro: rolling
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# build all packages listed in the meta package
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package-name:
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control_toolbox
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.repos
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colcon-defaults: |
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{
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"build": {
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"mixin": ["coverage-gcc"]
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}
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}
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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- uses: codecov/[email protected]
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with:
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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- uses: actions/upload-artifact@v1
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with:
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name: colcon-logs-${{ matrix.os }}
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path: ros_ws/log

‎.github/workflows/build-foxy.yml

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# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
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# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
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name: Build foxy
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on:
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pull_request:
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push:
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branches:
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- ros2-master
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schedule:
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# Run every day to detect flakiness and broken dependencies
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- cron: '28 6 * * *'
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jobs:
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binary:
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name: binary build
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runs-on: ubuntu-latest
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strategy:
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matrix:
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env:
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- {ROS_DISTRO: foxy, ROS_REPO: main}
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- {ROS_DISTRO: foxy, ROS_REPO: testing}
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env:
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
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steps:
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- uses: actions/checkout@v1
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: cache target_ws
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if: ${{ ! matrix.env.CCOV }}
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/target_ws
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key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
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restore-keys: |
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target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
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- name: cache ccache
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uses: pat-s/[email protected]
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
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ccache-${{ env.CACHE_PREFIX }}
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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- name: prepare target_ws for cache
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if: ${{ always() && ! matrix.env.CCOV }}
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run: |
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du -sh ${{ env.BASEDIR }}/target_ws
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sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
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sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
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du -sh ${{ env.BASEDIR }}/target_ws

‎.github/workflows/build-galactic.yml

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# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
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# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
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name: Build galactic
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on:
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pull_request:
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push:
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branches:
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- ros2-master
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schedule:
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# Run every day to detect flakiness and broken dependencies
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- cron: '28 6 * * *'
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jobs:
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binary:
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name: binary build
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runs-on: ubuntu-latest
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strategy:
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matrix:
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env:
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- {ROS_DISTRO: galactic, ROS_REPO: main}
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- {ROS_DISTRO: galactic, ROS_REPO: testing}
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env:
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
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steps:
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- uses: actions/checkout@v1
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: cache target_ws
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if: ${{ ! matrix.env.CCOV }}
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/target_ws
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key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
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restore-keys: |
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target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
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- name: cache ccache
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uses: pat-s/[email protected]
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
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ccache-${{ env.CACHE_PREFIX }}
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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- name: prepare target_ws for cache
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if: ${{ always() && ! matrix.env.CCOV }}
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run: |
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du -sh ${{ env.BASEDIR }}/target_ws
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sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
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sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
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du -sh ${{ env.BASEDIR }}/target_ws

‎.github/workflows/build-rolling.yml

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# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
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# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
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name: Build rolling
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on:
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pull_request:
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push:
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branches:
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- ros2-master
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schedule:
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# Run every day to detect flakiness and broken dependencies
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- cron: '28 6 * * *'
13+
14+
jobs:
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binary:
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name: binary build
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runs-on: ubuntu-latest
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strategy:
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matrix:
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env:
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- {ROS_DISTRO: rolling, ROS_REPO: main}
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- {ROS_DISTRO: rolling, ROS_REPO: testing}
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env:
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
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steps:
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- uses: actions/checkout@v1
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: cache target_ws
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if: ${{ ! matrix.env.CCOV }}
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/target_ws
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key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
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restore-keys: |
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target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
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- name: cache ccache
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uses: pat-s/[email protected]
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
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ccache-${{ env.CACHE_PREFIX }}
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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- name: prepare target_ws for cache
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if: ${{ always() && ! matrix.env.CCOV }}
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run: |
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du -sh ${{ env.BASEDIR }}/target_ws
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sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
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sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
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du -sh ${{ env.BASEDIR }}/target_ws

‎.github/workflows/test.yml renamed to ‎.github/workflows/build-source-foxy.yml

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name: Test control_toolbox
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name: Build Source foxy
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on:
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pull_request:
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push:
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branches:
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- ros2-master
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- foxy-devel
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '17 8 * * *'
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# Run every day to detect flakiness and broken dependencies
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- cron: '28 3 * * *'
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jobs:
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build_and_test:
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runs-on: ubuntu-18.04
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source:
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name: source build
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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steps:
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- uses: ros-tooling/setup-ros@v0.1
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- uses: ros-tooling/action-ros-ci@v0.1
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- uses: ros-tooling/setup-ros@v0.2
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- uses: ros-tooling/action-ros-ci@v0.2
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with:
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.rosinstall
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https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.repos
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https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
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package-name: control_toolbox
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colcon-mixin-name: coverage-gcc
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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target-ros2-distro: foxy
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- uses: codecov/codecov-action@v1
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with:
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token: ${{ secrets.CODECOV_TOKEN }}
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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yml: ./codecov.yml
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fail_ci_if_error: true
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- uses: actions/upload-artifact@v1
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with:
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name: colcon-logs-${{ matrix.os }}

‎.github/workflows/build-source-galactic.yml

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name: Build Source galactic
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on:
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push:
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branches:
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- ros2-master
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schedule:
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# Run every day to detect flakiness and broken dependencies
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- cron: '28 3 * * *'
9+
10+
jobs:
11+
source:
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name: source build
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runs-on: ubuntu-20.04
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strategy:
15+
fail-fast: false
16+
steps:
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- uses: ros-tooling/[email protected]
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- uses: ros-tooling/[email protected]
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with:
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.repos
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https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
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package-name: control_toolbox
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colcon-mixin-name: coverage-gcc
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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target-ros2-distro: galactic
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- uses: actions/upload-artifact@v1
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with:
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name: colcon-logs-${{ matrix.os }}
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path: ros_ws/log

‎.github/workflows/build-source-rollling.yml

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name: Build Source rolling
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on:
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push:
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branches:
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- ros2-master
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schedule:
7+
# Run every day to detect flakiness and broken dependencies
8+
- cron: '28 3 * * *'
9+
10+
jobs:
11+
source:
12+
name: source build
13+
runs-on: ubuntu-20.04
14+
strategy:
15+
fail-fast: false
16+
steps:
17+
- uses: ros-tooling/[email protected]
18+
- uses: ros-tooling/[email protected]
19+
with:
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.repos
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https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
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package-name: control_toolbox
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colcon-mixin-name: coverage-gcc
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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target-ros2-distro: rolling
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- uses: actions/upload-artifact@v1
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with:
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name: colcon-logs-${{ matrix.os }}
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path: ros_ws/log

‎.github/workflows/format.yml

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# This is a format job. Pre-commit has a first-party GitHub action, so we use
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# that: https://github.com/pre-commit/action
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name: Format
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on:
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workflow_dispatch:
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pull_request:
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push:
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branches:
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- ros2-master
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jobs:
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pre-commit:
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name: Format
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- uses: actions/setup-python@v2
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- name: Install clang-format-10
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run: sudo apt-get install clang-format-10 cppcheck
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- uses: pre-commit/[email protected]
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with:
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extra_args: --all-files --hook-stage manual
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token: ${{ secrets.GITHUB_TOKEN }}

‎.github/workflows/lint.yml

-30
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