Update ci

.github/workflows/ci.yml

@@ -9,39 +9,44 @@ 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
     runs-on: ubuntu-20.04
     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

.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

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/

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(

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(

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(

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/

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(