diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 15c9e8086c..6a192fdcad 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -9,20 +9,21 @@ on: - cron: '17 8 * * *' jobs: - # Re-enable once ros2_controls is released completely - # ci_binary: - # name: Foxy binary job - # runs-on: ubuntu-latest - # strategy: - # matrix: - # env: - # - {ROS_DISTRO: foxy, ROS_REPO: main} - # - {ROS_DISTRO: foxy, ROS_REPO: testing} - # steps: - # - run: sudo apt-get update -qq && sudo apt-get upgrade - # - uses: actions/checkout@v1 - # - uses: 'ros-industrial/industrial_ci@master' - # env: ${{matrix.env}} + ci_binary: + name: Foxy binary job + runs-on: ubuntu-latest + strategy: + matrix: + env: + - {ROS_DISTRO: foxy, ROS_REPO: main} + - {ROS_DISTRO: foxy, ROS_REPO: testing} + env: + UPSTREAM_WORKSPACE: .github/workspace.repos + steps: + - run: sudo apt-get update -qq && sudo apt-get upgrade + - uses: actions/checkout@v1 + - uses: 'ros-industrial/industrial_ci@master' + env: ${{matrix.env}} ci_source: name: Foxy source job @@ -30,18 +31,22 @@ jobs: strategy: fail-fast: false steps: - - uses: ros-tooling/setup-ros@0.0.23 + - uses: ros-tooling/setup-ros@0.0.26 with: required-ros-distributions: foxy - - uses: ros-tooling/action-ros-ci@0.0.17 + - uses: ros-tooling/action-ros-ci@0.0.19 with: - source-ros-binary-installation: foxy + target-ros2-distro: foxy # build all packages listed in the meta package package-name: | diff_drive_controller + effort_controllers + forward_command_controller joint_state_controller joint_trajectory_controller + position_controllers ros2_controllers + velocity_controllers vcs-repo-file-url: | https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/.github/workspace.repos colcon-mixin-name: coverage-gcc diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index ca8edbe530..8104c9ea69 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -9,28 +9,37 @@ jobs: runs-on: ubuntu-18.04 steps: - uses: actions/checkout@v1 - - uses: ros-tooling/setup-ros@0.0.13 - - uses: ros-tooling/action-ros-lint@0.0.5 + - uses: ros-tooling/setup-ros@0.0.26 + - uses: ros-tooling/action-ros-lint@0.0.6 with: linter: copyright package-name: | + diff_drive_controller + effort_controllers + forward_command_controller joint_state_controller joint_trajectory_controller - diff_drive_controller + position_controllers + ros2_controllers + velocity_controllers ament_xmllint: name: ament_xmllint runs-on: ubuntu-18.04 steps: - uses: actions/checkout@v1 - - uses: ros-tooling/setup-ros@0.0.13 - - uses: ros-tooling/action-ros-lint@0.0.5 + - uses: ros-tooling/setup-ros@0.0.26 + - uses: ros-tooling/action-ros-lint@0.0.6 with: linter: xmllint package-name: | - ros2_controllers + diff_drive_controller + effort_controllers + forward_command_controller joint_state_controller joint_trajectory_controller - diff_drive_controller + position_controllers + ros2_controllers + velocity_controllers ament_lint_cpp: # Linters applicable to C++ packages name: ament_${{ matrix.linter }} runs-on: ubuntu-18.04 @@ -40,11 +49,16 @@ jobs: linter: [cppcheck, cpplint, uncrustify] steps: - uses: actions/checkout@v1 - - uses: ros-tooling/setup-ros@0.0.13 - - uses: ros-tooling/action-ros-lint@0.0.5 + - uses: ros-tooling/setup-ros@0.0.26 + - uses: ros-tooling/action-ros-lint@0.0.6 with: linter: ${{ matrix.linter }} package-name: | + diff_drive_controller + effort_controllers + forward_command_controller joint_state_controller joint_trajectory_controller - diff_drive_controller + position_controllers + ros2_controllers + velocity_controllers \ No newline at end of file diff --git a/diff_drive_controller/CMakeLists.txt b/diff_drive_controller/CMakeLists.txt index f5e090d6c1..19402825e5 100644 --- a/diff_drive_controller/CMakeLists.txt +++ b/diff_drive_controller/CMakeLists.txt @@ -47,7 +47,8 @@ ament_target_dependencies(diff_drive_controller # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(diff_drive_controller PRIVATE "DIFF_DRIVE_CONTROLLER_BUILDING_DLL") - +# prevent pluginlib from using boost +target_compile_definitions(diff_drive_controller PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") pluginlib_export_plugin_description_file(controller_interface diff_drive_plugin.xml) install(DIRECTORY include/ diff --git a/effort_controllers/CMakeLists.txt b/effort_controllers/CMakeLists.txt index 344a7691f2..699e8ed2b5 100644 --- a/effort_controllers/CMakeLists.txt +++ b/effort_controllers/CMakeLists.txt @@ -29,7 +29,8 @@ ament_target_dependencies(effort_controllers # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(effort_controllers PRIVATE "EFFORT_CONTROLLERS_BUILDING_DLL") - +# prevent pluginlib from using boost +target_compile_definitions(effort_controllers PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") pluginlib_export_plugin_description_file(controller_interface effort_controllers_plugins.xml) install( diff --git a/forward_command_controller/CMakeLists.txt b/forward_command_controller/CMakeLists.txt index b1dc458c75..be16d872f2 100644 --- a/forward_command_controller/CMakeLists.txt +++ b/forward_command_controller/CMakeLists.txt @@ -38,7 +38,8 @@ ament_target_dependencies(forward_command_controller # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(forward_command_controller PRIVATE "FORWARD_COMMAND_CONTROLLER_BUILDING_DLL") - +# prevent pluginlib from using boost +target_compile_definitions(forward_command_controller PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") pluginlib_export_plugin_description_file(controller_interface forward_command_plugin.xml) install( diff --git a/joint_state_controller/CMakeLists.txt b/joint_state_controller/CMakeLists.txt index 2875416ae1..a48a7f7f63 100644 --- a/joint_state_controller/CMakeLists.txt +++ b/joint_state_controller/CMakeLists.txt @@ -35,7 +35,8 @@ ament_target_dependencies(joint_state_controller # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(joint_state_controller PRIVATE "JOINT_STATE_CONTROLLER_BUILDING_DLL") - +# prevent pluginlib from using boost +target_compile_definitions(joint_state_controller PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") pluginlib_export_plugin_description_file(controller_interface joint_state_plugin.xml) install( diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt index 8b8179e4aa..ae5fa7cdaa 100644 --- a/joint_trajectory_controller/CMakeLists.txt +++ b/joint_trajectory_controller/CMakeLists.txt @@ -42,9 +42,9 @@ ament_target_dependencies(joint_trajectory_controller ) # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. -target_compile_definitions(joint_trajectory_controller PRIVATE - "JOINT_TRAJECTORY_CONTROLLER_BUILDING_DLL" "_USE_MATH_DEFINES") - +target_compile_definitions(joint_trajectory_controller PRIVATE "JOINT_TRAJECTORY_CONTROLLER_BUILDING_DLL" "_USE_MATH_DEFINES") +# prevent pluginlib from using boost +target_compile_definitions(joint_trajectory_controller PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") pluginlib_export_plugin_description_file(controller_interface joint_trajectory_plugin.xml) install(DIRECTORY include/ diff --git a/position_controllers/CMakeLists.txt b/position_controllers/CMakeLists.txt index 0cc8c229a2..cfca599a3a 100644 --- a/position_controllers/CMakeLists.txt +++ b/position_controllers/CMakeLists.txt @@ -29,7 +29,8 @@ ament_target_dependencies(position_controllers # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(position_controllers PRIVATE "POSITION_CONTROLLERS_BUILDING_DLL") - +# prevent pluginlib from using boost +target_compile_definitions(position_controllers PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") pluginlib_export_plugin_description_file(controller_interface position_controllers_plugins.xml) install(