[pr ros-controls#971] merge commit, add saturation joint limiter

StoglRobotics-forks · Jun 13, 2024 · 2a79458 · 2a79458
2 parents cbe0340 + f097085
commit 2a79458
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diff --git a/.github/workflows/README.md b/.github/workflows/README.md
@@ -2,5 +2,6 @@
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml?branch=master)  <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml?branch=master) <br/> [![Debian Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-debian-build.yml) <br/> [![RHEL Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-rhel-binary-build.yml) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml?branch=master) <br /> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml?branch=master)  <br /> [![Jazzy Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-source-build.yml?branch=master) <br/> [![Debian Jazzy Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-debian-build.yml) <br/> [![RHEL Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-rhel-binary-build.yml) | [Documentation](https://control.ros.org/jazzy/index.html) <br /> [API Reference](https://control.ros.org/jazzy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#jazzy)
 **Iron** | [`iron`](https://github.com/ros-controls/ros2_control/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml?branch=master) <br /> [![Iron Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml?branch=master) <br/> [![Debian Iron Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-debian-build.yml) <br/> [![RHEL Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-rhel-binary-build.yml) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml?branch=master)  <br /> [![Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml?branch=master) <br/> [![Debian Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-debian-build.yml) <br/> [![RHEL Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-rhel-binary-build.yml) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.humble.repos'
 
 jobs:
   abi_check:

diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
@@ -7,9 +7,27 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.humble.repos'
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml
@@ -0,0 +1,18 @@
+name: Humble Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@humble
+    with:
+      ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
@@ -4,14 +4,33 @@ on:
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
+      - 'codecov.yml'
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
+      - 'codecov.yml'
 
 jobs:
   coverage_humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
     secrets: inherit
     with:
       ros_distro: humble
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: humble
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-rhel-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
@@ -7,9 +7,27 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -4,6 +4,15 @@ on:
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/humble-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -15,3 +24,4 @@ jobs:
       ros_distro: humble
       ref: humble
       ros2_repo_branch: humble
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.iron.repos'
 
 jobs:
   abi_check:

diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
@@ -7,9 +7,27 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.iron.repos'
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

diff --git a/.github/workflows/ci-check-docs.yml → .github/workflows/iron-check-docs.yml b/.github/workflows/ci-check-docs.yml → .github/workflows/iron-check-docs.yml
@@ -1,12 +1,18 @@
-name: Check Docs
+name: Iron Check Docs
 
 on:
   workflow_dispatch:
   pull_request:
+    branches:
+      - iron
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
 
 jobs:
   check-docs:
     name: Check Docs
-    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@master
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@iron
     with:
       ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
@@ -4,14 +4,33 @@ on:
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
+      - 'codecov.yml'
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
+      - 'codecov.yml'
 
 jobs:
   coverage_iron:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
     secrets: inherit
     with:
       ros_distro: iron
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: iron
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-rhel-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
@@ -7,9 +7,27 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
@@ -4,6 +4,15 @@ on:
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/iron-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -15,3 +24,4 @@ jobs:
       ros_distro: iron
       ref: iron
       ros2_repo_branch: iron
+      os_name: ubuntu-22.04