From 109861752f3deb8497c8e9bfbd7b0475f8f3f23a Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Thu, 23 May 2024 10:43:34 +0200 Subject: [PATCH] Add Jazzy builds * Add workflows for jazzy * Add repos files for jazzy * Add badges for jazzy to README and ci_status.md * Move Rolling build badges to ubuntu noble * Restructure README to move EOL distros out of the table --- .github/workflows/jazzy-binary-main.yml | 23 ++++++++ .github/workflows/jazzy-binary-testing.yml | 23 ++++++++ .github/workflows/jazzy-semi-binary-main.yml | 23 ++++++++ .../workflows/jazzy-semi-binary-testing.yml | 23 ++++++++ README.md | 54 ++++++++++-------- ...obots_ROS2_Driver-not-released.jazzy.repos | 6 ++ Universal_Robots_ROS2_Driver.jazzy.repos | 29 ++++++++++ ci_status.md | 57 +++++++++++++------ 8 files changed, 196 insertions(+), 42 deletions(-) create mode 100644 .github/workflows/jazzy-binary-main.yml create mode 100644 .github/workflows/jazzy-binary-testing.yml create mode 100644 .github/workflows/jazzy-semi-binary-main.yml create mode 100644 .github/workflows/jazzy-semi-binary-testing.yml create mode 100644 Universal_Robots_ROS2_Driver-not-released.jazzy.repos create mode 100644 Universal_Robots_ROS2_Driver.jazzy.repos diff --git a/.github/workflows/jazzy-binary-main.yml b/.github/workflows/jazzy-binary-main.yml new file mode 100644 index 000000000..5b8912f7a --- /dev/null +++ b/.github/workflows/jazzy-binary-main.yml @@ -0,0 +1,23 @@ +name: Jazzy Binary Build Main +on: + workflow_dispatch: + branches: + - main + pull_request: + branches: + - main + push: + branches: + - main + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '13 4 * * *' + +jobs: + binary: + uses: ./.github/workflows/reusable_ici.yml + with: + ros_distro: jazzy + ros_repo: main + upstream_workspace: Universal_Robots_ROS2_Driver-not-released.jazzy.repos + ref_for_scheduled_build: main diff --git a/.github/workflows/jazzy-binary-testing.yml b/.github/workflows/jazzy-binary-testing.yml new file mode 100644 index 000000000..ed4bb7f09 --- /dev/null +++ b/.github/workflows/jazzy-binary-testing.yml @@ -0,0 +1,23 @@ +name: Jazzy Binary Build Testing +on: + workflow_dispatch: + branches: + - main + pull_request: + branches: + - main + push: + branches: + - main + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '13 4 * * *' + +jobs: + binary: + uses: ./.github/workflows/reusable_ici.yml + with: + ros_distro: jazzy + ros_repo: testing + upstream_workspace: Universal_Robots_ROS2_Driver-not-released.jazzy.repos + ref_for_scheduled_build: main diff --git a/.github/workflows/jazzy-semi-binary-main.yml b/.github/workflows/jazzy-semi-binary-main.yml new file mode 100644 index 000000000..26fc5b8e7 --- /dev/null +++ b/.github/workflows/jazzy-semi-binary-main.yml @@ -0,0 +1,23 @@ +name: Jazzy Semi Binary Build Main +on: + workflow_dispatch: + branches: + - main + pull_request: + branches: + - main + push: + branches: + - main + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '13 4 * * *' + +jobs: + binary: + uses: ./.github/workflows/reusable_ici.yml + with: + ros_distro: jazzy + ros_repo: main + upstream_workspace: Universal_Robots_ROS2_Driver.jazzy.repos + ref_for_scheduled_build: main diff --git a/.github/workflows/jazzy-semi-binary-testing.yml b/.github/workflows/jazzy-semi-binary-testing.yml new file mode 100644 index 000000000..e423d0ef6 --- /dev/null +++ b/.github/workflows/jazzy-semi-binary-testing.yml @@ -0,0 +1,23 @@ +name: Jazzy Semi Binary Build Testing +on: + workflow_dispatch: + branches: + - main + pull_request: + branches: + - main + push: + branches: + - main + schedule: + # Run every morning to detect flakiness and broken dependencies + - cron: '13 4 * * *' + +jobs: + binary: + uses: ./.github/workflows/reusable_ici.yml + with: + ros_distro: jazzy + ros_repo: testing + upstream_workspace: Universal_Robots_ROS2_Driver.jazzy.repos + ref_for_scheduled_build: main diff --git a/README.md b/README.md index d24d01bca..4d4aac687 100644 --- a/README.md +++ b/README.md @@ -18,64 +18,68 @@ Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) a - - + - - + - - - - - +
ROS2 DistroFoxy (EOL)Galactic (EOL) Humble IronJazzy Rolling
Branchfoxygalactic humble iron mainmain
Release status - - Foxy Binary Build -
- 		- - Galactic Binary Build -
- 		+
+
-
- - - - + 		+
+ + + + + 		+
+ + + +
-The table above shows the build status for each package of this repo from the [ROS buildfarm](https://build.ros2.org/). For end-of-life (EOL) distributions the nightly binary builds from our CI are shown. EOL distributions will receive no more updates and may be lacking features. +The table above shows the build status for each package of this repo from the [ROS +buildfarm](https://build.ros2.org/). A more [detailed build status](ci_status.md) shows the state of all CI workflows inside this repo. Please note that the detailed view is intended for developers, while the one here should give end users an overview of the current released state. +### EOL distros +The following distributions are End-Of-Line (EOL). Branches for these exist and released packages +are probably available for an unknown amount of time, but it is recommended to upgrade to a +supported distribution. +For EOL distributions the nightly binary builds from our CI are shown. EOL distributions will +receive no more updates and may be lacking features. + +* Foxy (branch: [foxy](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy)) [![Foxy Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml/badge.svg?event=schedule)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml?query=event%3Aschedule++) +* Galactic (branch: [galactic](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic)) [![Galactic Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml/badge.svg?event=schedule)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml?query=event%3Aschedule++) + ## Packages in the Repository: - `ur` - Meta-package that provides a single point of installation for the released packages. diff --git a/Universal_Robots_ROS2_Driver-not-released.jazzy.repos b/Universal_Robots_ROS2_Driver-not-released.jazzy.repos new file mode 100644 index 000000000..f1f74842e --- /dev/null +++ b/Universal_Robots_ROS2_Driver-not-released.jazzy.repos @@ -0,0 +1,6 @@ +# The not-released files are meant to use upstream packages in binary form whenever possible. +# Packages get added here, if they are not released at all or when the repo's current version +# requires a newer version than the one currently released to the target distributions. +# Once Upstream packages are released and synced to the target distributions in the required +# version, the entry in this file shall be removed again. +repositories: diff --git a/Universal_Robots_ROS2_Driver.jazzy.repos b/Universal_Robots_ROS2_Driver.jazzy.repos new file mode 100644 index 000000000..f7dd6bee1 --- /dev/null +++ b/Universal_Robots_ROS2_Driver.jazzy.repos @@ -0,0 +1,29 @@ +repositories: + Universal_Robots_Client_Library: + type: git + url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git + version: master + Universal_Robots_ROS2_Description: + type: git + url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git + version: rolling + ur_msgs: + type: git + url: https://github.com/ros-industrial/ur_msgs.git + version: foxy-devel + ros2_control: + type: git + url: https://github.com/ros-controls/ros2_control.git + version: master + ros2_controllers: + type: git + url: https://github.com/ros-controls/ros2_controllers + version: master + kinematics_interface: + type: git + url: https://github.com/ros-controls/kinematics_interface.git + version: master + control_msgs: + type: git + url: https://github.com/ros-controls/control_msgs.git + version: master diff --git a/ci_status.md b/ci_status.md index 376cad650..c4b6013f8 100644 --- a/ci_status.md +++ b/ci_status.md @@ -1,4 +1,4 @@ -## Build Status +# Build Status This page gives a detailed overview of the build status of this repository. Please note that due to upstream changes some pipelines might turn red temporarily which can be expected behavior. For each @@ -6,20 +6,19 @@ red pipeline there should be a corresponding issue labeled with [ci-failure](htt - + - + - - - - + - - - - +
Humble IronJazzy Rolling
Branch humble iron mainmain
Repo builds + Humble Binary Main @@ -37,7 +36,7 @@ red pipeline there should be a corresponding issue labeled with [ci-failure](htt alt="Humble Semi-Binary Testing"/> + Iron Binary Main @@ -55,7 +54,25 @@ red pipeline there should be a corresponding issue labeled with [ci-failure](htt alt="Iron Semi-Binary Testing"/> + + + Jazzy Binary Main +
+ + Jazzy Binary Testing +
+ + Jazzy Semi-Binary Main +
+ + Jazzy Semi-Binary Testing + + 		Rolling Binary Main @@ -75,32 +92,37 @@ red pipeline there should be a corresponding issue labeled with [ci-failure](htt
Buildfarm +
+
-
- - - - + 		+
+ + + + + 		+
+ + + +
- **NOTE**: There are two build stages checking current and future compatibility of the driver. 1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that @@ -114,6 +136,7 @@ red pipeline there should be a corresponding issue labeled with [ci-failure](htt Uses repos file: `src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.repos` Each of these stages also performs integration tests using ursim. In order to execute these tests locally, they have to be enabled: + ``` colcon build --packages-select ur_robot_driver --cmake-args -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=On ```