Merge branch 'master' into reduce_pointer_usage

ros-controls · Mar 21, 2023 · df7c2e9 · df7c2e9
2 parents 8ad53d6 + 5dfacd8
commit df7c2e9
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Showing 93 changed files with 2,450 additions and 1,146 deletions.
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -0,0 +1,13 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for all configuration options:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -1,4 +1,13 @@
 pull_request_rules:
+  - name: Backport to humble at reviewers discretion
+    conditions:
+      - base=master
+      - "label=humble-galactic"
+    actions:
+      backport:
+        branches:
+          - humble
+
   - name: Backport to galactic at reviewers discretion
     conditions:
       - base=master

diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -16,11 +16,11 @@ jobs:
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/setup-ros@0.3.4
+      - uses: ros-tooling/setup-ros@0.6.1
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v3
-      - uses: ros-tooling/action-ros-ci@0.2.6
+      - uses: ros-tooling/action-ros-ci@0.3.0
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -44,12 +44,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/[email protected].0
+      - uses: codecov/[email protected].1
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/[email protected].0
+      - uses: actions/[email protected].2
         with:
           name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -13,11 +13,11 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
-    - uses: actions/setup-python@v2
+    - uses: actions/setup-python@v4.5.0
       with:
-        python-version: 3.9
+        python-version: '3.10'
     - name: Install system hooks
-      run: sudo apt install -qq clang-format-12 cppcheck
-    - uses: pre-commit/action@v2.0.3
+      run: sudo apt install -qq clang-format-14 cppcheck
+    - uses: pre-commit/action@v3.0.0
       with:
         extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -12,7 +12,7 @@ jobs:
           linter: [cppcheck, copyright, lint_cmake]
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: ros-tooling/setup-ros@0.6.1
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling
@@ -36,7 +36,7 @@ jobs:
           linter: [cpplint]
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.2
+    - uses: ros-tooling/setup-ros@0.6.1
     - uses: ros-tooling/[email protected]
       with:
         distribution: rolling

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -19,21 +19,21 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v2
 
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v2
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v4
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_release
           tags: |
@@ -42,7 +42,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v4
         with:
           context: .
           push: true
@@ -59,21 +59,21 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v2
 
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v2
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v4
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_source
           tags: |
@@ -82,7 +82,7 @@ jobs:
             type=semver,pattern={{major}}.{{minor}}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v4
         with:
           context: .
           push: true

diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -66,14 +66,14 @@ jobs:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
         if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3.0.11
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: pat-s/always-upload-cache@v3.0.11
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -26,13 +26,13 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@0.3.4
+      - uses: ros-tooling/setup-ros@0.6.1
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
       - uses: actions/checkout@v3
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@0.2.6
+      - uses: ros-tooling/action-ros-ci@0.3.0
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
@@ -49,7 +49,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v1
+      - uses: actions/upload-artifact@v3.1.2
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
@@ -7,7 +7,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v3
     - uses: uesteibar/reviewer-lottery@v2
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -16,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.4.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -36,20 +36,26 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v2.31.1
+    rev: v3.3.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
-  # PEP 257
-  - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
-    rev: v0.3.3
+  # PyDocStyle
+  - repo: https://github.com/PyCQA/pydocstyle
+    rev: 6.3.0
     hooks:
-    - id: pep257
+    - id: pydocstyle
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
+  - repo: https://github.com/psf/black
+    rev: 23.1.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
   - repo: https://github.com/pycqa/flake8
-    rev: 4.0.1
+    rev: 6.0.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
@@ -60,7 +66,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-12
+        entry: clang-format-14
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
@@ -110,14 +116,14 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: 0.10.1
+    rev: v1.1.1
     hooks:
       - id: doc8
         args: ['--max-line-length=100', '--ignore=D001']
         exclude: CHANGELOG\.rst$
 
   - repo: https://github.com/pre-commit/pygrep-hooks
-    rev: v1.9.0
+    rev: v1.10.0
     hooks:
       - id: rst-backticks
         exclude: CHANGELOG\.rst$
@@ -127,7 +133,7 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.1.0
+    rev: v2.2.2
     hooks:
       - id: codespell
         args: ['--write-changes']

diff --git a/controller_interface/CHANGELOG.rst b/controller_interface/CHANGELOG.rst
@@ -2,6 +2,39 @@
 Changelog for package controller_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.10.0 (2023-03-16)
+-------------------
+
+3.9.1 (2023-03-09)
+------------------
+
+3.9.0 (2023-02-28)
+------------------
+
+3.8.0 (2023-02-10)
+------------------
+* Fix CMake install so overriding works (`#926 <https://github.com/ros-controls/ros2_control/issues/926>`_)
+* Async params (`#927 <https://github.com/ros-controls/ros2_control/issues/927>`_)
+* Contributors: Márk Szitanics, Tyler Weaver
+
+3.7.0 (2023-01-24)
+------------------
+
+3.6.0 (2023-01-12)
+------------------
+* Update imu_sensor.hpp (`#893 <https://github.com/ros-controls/ros2_control/issues/893>`_)
+  Covariances values should come from the IMU_Broadcaster, like the frame_id or the time
+* Contributors: flochre
+
+3.5.1 (2023-01-06)
+------------------
+
+3.5.0 (2022-12-06)
+------------------
+
+3.4.0 (2022-11-27)
+------------------
+
 3.3.0 (2022-11-15)
 ------------------