Split build status into two views & add iron workflows (#709)

* Move ci_status to own markdown file * Added workflows for iron * Add instructions for upstream deps on failing builds. * Use uJ64_ instead of uJ64: as prefix The colon seems to break github rendering * Update README.md Co-authored-by: RobertWilbrandt <[email protected]> * improve wording Co-authored-by: RobertWilbrandt <[email protected]> --------- Co-authored-by: RobertWilbrandt <[email protected]>
UniversalRobots · Jun 19, 2023 · ee6b50f · ee6b50f
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diff --git a/.github/workflows/iron-binary-main.yml b/.github/workflows/iron-binary-main.yml
@@ -0,0 +1,24 @@
+name: Iron Binary Build Main
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+      - main # as long as rolling and iron should be compatible
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '13 5 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: iron
+      ros_repo: main
+      upstream_workspace: Universal_Robots_ROS2_Driver-not-released.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-binary-testing.yml b/.github/workflows/iron-binary-testing.yml
@@ -0,0 +1,24 @@
+name: Iron Binary Build Testing
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+      - main # as long as rolling and iron should be compatible
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '13 5 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: iron
+      ros_repo: testing
+      upstream_workspace: Universal_Robots_ROS2_Driver-not-released.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-semi-binary-main.yml b/.github/workflows/iron-semi-binary-main.yml
@@ -0,0 +1,24 @@
+name: Iron Semi Binary Build Main
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+      - main # as long as rolling and iron should be compatible
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '13 5 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: iron
+      ros_repo: main
+      upstream_workspace: Universal_Robots_ROS2_Driver.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-semi-binary-testing.yml b/.github/workflows/iron-semi-binary-testing.yml
@@ -0,0 +1,24 @@
+name: Iron Semi Binary Build Testing
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+      - main # as long as rolling and iron should be compatible
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '13 5 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: iron
+      ros_repo: testing
+      upstream_workspace: Universal_Robots_ROS2_Driver.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/README.md b/README.md
@@ -13,102 +13,68 @@ The driver is compatible across the entire line of UR robots -- from 3 kg payloa
 Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) about this driver.
 
 
-## Build Status
+## Release Status
 
 <table width="100%">
   <tr>
     <th>ROS2 Distro</th>
-    <th>Foxy</th>
-    <th>Galactic</th>
+    <th>Foxy (EOL)</th>
+    <th>Galactic (EOL)</th>
     <th>Humble</th>
+    <th>Iron</th>
     <th>Rolling</th>
   </tr>
   <tr>
     <th>Branch</th>
     <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy">foxy</a></td>
     <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic">galactic</a></td>
     <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/humble">humble</a></td>
+    <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/iron">iron</a></td>
     <td><a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main">main</a></td>
   </tr>
   <tr>
-    <th>Build Status</th>
+    <th>Release status</th>
     <td>
       <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml?query=event%3Aschedule++">
          <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml/badge.svg?event=schedule"
               alt="Foxy Binary Build"/>
       </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-semi-binary-build.yml?query=event%3Aschedule++">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-semi-binary-build.yml/badge.svg?event=schedule"
-              alt="Foxy Semi-Binary Build"/>
-      </a>
     </td>
     <td>
       <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml?query=event%3Aschedule++">
          <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml/badge.svg?event=schedule"
               alt="Galactic Binary Build"/>
       </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-semi-binary-build.yml?query=event%3Aschedule++">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-semi-binary-build.yml/badge.svg?event=schedule"
-              alt="Galactic Semi-Binary Build"/>
-      </a>
     </td>
     <td>
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-main.yml?query=event%3Aschedule++">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-main.yml/badge.svg?event=schedule"
-              alt="Humble Binary Main"/>
-      </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-testing.yml?query=event%3Aschedule++">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-binary-testing.yml/badge.svg?event=schedule"
-              alt="Humble Binary Testing"/>
-      </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-main.yml?query=event%3Aschedule++">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-main.yml/badge.svg?event=schedule"
-              alt="Humble Semi-Binary Main"/>
-      </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-testing.yml?query=event%3Aschedule++">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/humble-semi-binary-testing.yml/badge.svg?event=schedule"
-              alt="Humble Semi-Binary Testing"/>
-      </a>
+      <a href='https://build.ros2.org/job/Hbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_calibration'></a><br/>
+      <a href='https://build.ros2.org/job/Hbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_controllers'></a>
+      <a href='https://build.ros2.org/job/Hbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_dashboard_msgs'></a>
+      <a href='https://build.ros2.org/job/Hbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_moveit_config'></a>
+      <a href='https://build.ros2.org/job/Hbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Hbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_robot_driver'></a>
     </td>
     <td>
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-main.yml?query=branch%3Amain+">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-main.yml/badge.svg?branch=main"
-              alt="Rolling Binary Main"/>
-      </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-testing.yml?query=branch%3Amain+">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-testing.yml/badge.svg?branch=main"
-              alt="Rolling Binary Testing"/>
-      </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-main.yml?query=branch%3Amain+">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-main.yml/badge.svg?branch=main"
-              alt="Rolling Semi-Binary Main"/>
-      </a> <br />
-      <a href="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-testing.yml?query=branch%3Amain+">
-         <img src="https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-testing.yml/badge.svg?branch=main"
-              alt="Rolling Semi-Binary Testing"/>
-      </a>
+      <a href='https://build.ros2.org/job/Ibin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_calibration'></a><br/>
+      <a href='https://build.ros2.org/job/Ibin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_controllers'></a>
+      <a href='https://build.ros2.org/job/Ibin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_dashboard_msgs'></a>
+      <a href='https://build.ros2.org/job/Ibin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_moveit_config'></a>
+      <a href='https://build.ros2.org/job/Ibin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Ibin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_robot_driver'></a>
+    </td>
+    <td>
+      <a href='https://build.ros2.org/job/Rbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_calibration__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_calibration'></a><br/>
+      <a href='https://build.ros2.org/job/Rbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_controllers__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_controllers'></a>
+      <a href='https://build.ros2.org/job/Rbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_dashboard_msgs__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_dashboard_msgs'></a>
+      <a href='https://build.ros2.org/job/Rbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_moveit_config__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_moveit_config'></a>
+      <a href='https://build.ros2.org/job/Rbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/'><img src='https://build.ros2.org/job/Rbin_uJ64__ur_robot_driver__ubuntu_jammy_amd64__binary/badge/icon?subject=ur_robot_driver'></a>
     </td>
   </tr>
 </table>
 
+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.
 
-**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
-   direct local build is possible and is the most relevant workflow for users.
-
-   Uses repos file: `src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.<ros-distro>.repos`
-
-1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
-   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
-
-   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
-  ```
-
+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.
 
 ## Packages in the Repository:
 
@@ -188,11 +154,14 @@ building might fail occasionally.
    source install/setup.bash
    ```
 
-6. When consecutive pulls leads to build errors, please make sure to update the upstream packages before
-   filing an issue:
+6. When consecutive pulls lead to build errors it is possible that you'll have to build an upstream
+   package from source, as well. See the [detailed build status](ci_status.md). When the binary builds are red, but
+   the semi-binary builds are green, you need to build the upstream dependencies from source. The
+   easiest way to achieve this, is using the repos file:
+
    ```
    cd $COLCON_WS
-   vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos
+   vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.${ROS_DISTRO}.repos
    rosdep update
    rosdep install --ignore-src --from-paths src -y
    ```

diff --git a/Universal_Robots_ROS2_Driver-not-released.iron.repos b/Universal_Robots_ROS2_Driver-not-released.iron.repos
@@ -0,0 +1,10 @@
+# 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:
+  Universal_Robots_ROS2_Description:
+    type: git
+    url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
+    version: ros2
diff --git a/Universal_Robots_ROS2_Driver.iron.repos b/Universal_Robots_ROS2_Driver.iron.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: ros2
+  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: humble