Provide force-torque sensor data through gz_system to controller_manager - fixes to original PR for Humble #575
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| name: gz_ros2_control CI - Humble | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| branches: [ humble ] | |
| push: | |
| branches: [ humble ] | |
| schedule: | |
| # Run every morning to detect flakiness and broken dependencies | |
| - cron: '33 5 * * MON-FRI' | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - gz-version: fortress | |
| ros-repo-packages: "" | |
| upstream-repos: "" | |
| - gz-version: fortress | |
| ros-repo-packages: "-testing" | |
| upstream-repos: "" | |
| - gz-version: harmonic | |
| ros-repo-packages: "" | |
| upstream-repos: "" | |
| - gz-version: harmonic | |
| ros-repo-packages: "-testing" | |
| upstream-repos: "" | |
| - gz-version: fortress | |
| ros-repo-packages: "-testing" | |
| upstream-repos: "gz_ros2_control.humble.repos" | |
| - gz-version: harmonic | |
| ros-repo-packages: "-testing" | |
| upstream-repos: "gz_ros2_control.humble.repos" | |
| env: | |
| GZ_VERSION: ${{ matrix.gz-version }} | |
| container: | |
| image: ghcr.io/ros-controls/ros:humble-ubuntu${{ matrix.ros-repo-packages }} | |
| steps: | |
| - name: Checkout code | |
| if: github.event_name != 'schedule' | |
| uses: actions/checkout@v4 | |
| - name: Checkout code for scheduled workflow | |
| if: github.event_name == 'schedule' | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: humble | |
| - name: Checkout ros2_control framework for semi-binary builds | |
| if: ${{ matrix.upstream-repos != '' }} | |
| run: vcs import --input ${{ matrix.upstream-repos }} | |
| - name: Setup colcon workspace | |
| id: configure | |
| shell: bash | |
| run: | | |
| if [ "$GZ_VERSION" == "harmonic" ]; then | |
| # https://gazebosim.org/docs/harmonic/install_ubuntu/#binary-installation-on-ubuntu | |
| wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | |
| apt-get update && apt-get install --no-install-recommends -qq -y gz-harmonic ros-humble-ros-gzharmonic ros-humble-ros-gzharmonic-bridge ros-humble-ros-gzharmonic-sim | |
| export GZ_DEPS_ROSDEP="ros_gz ros_gz_bridge ros_gz_sim" | |
| # https://github.com/osrf/osrf-rosdep#installing-rosdep-rules-to-resolve-gazebo-harmonic-libraries | |
| wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list | |
| else | |
| apt-get update | |
| fi | |
| rosdep update --rosdistro humble | |
| rosdep install --from-paths ./ -i -y --rosdistro humble --skip-keys="${GZ_DEPS_ROSDEP}" | |
| - name: Build project | |
| id: build | |
| run: | | |
| . /opt/ros/humble/local_setup.sh | |
| colcon build --packages-up-to gz_ros2_control_demos gz_ros2_control_tests | |
| - name: Run tests | |
| id: test | |
| run: | | |
| . /opt/ros/humble/local_setup.sh | |
| colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests | |
| colcon test-result |