From e1f825f9e305a9167a887013fe28fbac4bdf40ba Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 15 Jun 2025 23:45:17 +0200 Subject: [PATCH 01/10] Rename some workflow files --- .../{humble-build-binary.yml => humble-binary-build.yml} | 0 ...{humble-build-semi-binary.yml => humble-semi-binary-build.yml} | 0 .../workflows/{jazzy-build-binary.yml => jazzy-binary-build.yml} | 0 .../{jazzy-build-semi-binary.yml => jazzy-semi-binary-build.yml} | 0 .../{rolling-build-binary.yml => rolling-binary-build.yml} | 0 ...olling-build-semi-binary.yml => rolling-semi-binary-build.yml} | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename .github/workflows/{humble-build-binary.yml => humble-binary-build.yml} (100%) rename .github/workflows/{humble-build-semi-binary.yml => humble-semi-binary-build.yml} (100%) rename .github/workflows/{jazzy-build-binary.yml => jazzy-binary-build.yml} (100%) rename .github/workflows/{jazzy-build-semi-binary.yml => jazzy-semi-binary-build.yml} (100%) rename .github/workflows/{rolling-build-binary.yml => rolling-binary-build.yml} (100%) rename .github/workflows/{rolling-build-semi-binary.yml => rolling-semi-binary-build.yml} (100%) diff --git a/.github/workflows/humble-build-binary.yml b/.github/workflows/humble-binary-build.yml similarity index 100% rename from .github/workflows/humble-build-binary.yml rename to .github/workflows/humble-binary-build.yml diff --git a/.github/workflows/humble-build-semi-binary.yml b/.github/workflows/humble-semi-binary-build.yml similarity index 100% rename from .github/workflows/humble-build-semi-binary.yml rename to .github/workflows/humble-semi-binary-build.yml diff --git a/.github/workflows/jazzy-build-binary.yml b/.github/workflows/jazzy-binary-build.yml similarity index 100% rename from .github/workflows/jazzy-build-binary.yml rename to .github/workflows/jazzy-binary-build.yml diff --git a/.github/workflows/jazzy-build-semi-binary.yml b/.github/workflows/jazzy-semi-binary-build.yml similarity index 100% rename from .github/workflows/jazzy-build-semi-binary.yml rename to .github/workflows/jazzy-semi-binary-build.yml diff --git a/.github/workflows/rolling-build-binary.yml b/.github/workflows/rolling-binary-build.yml similarity index 100% rename from .github/workflows/rolling-build-binary.yml rename to .github/workflows/rolling-binary-build.yml diff --git a/.github/workflows/rolling-build-semi-binary.yml b/.github/workflows/rolling-semi-binary-build.yml similarity index 100% rename from .github/workflows/rolling-build-semi-binary.yml rename to .github/workflows/rolling-semi-binary-build.yml From 6148bf94c148f8668efd59a7d4b31b44cc487b0e Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 15 Jun 2025 23:45:25 +0200 Subject: [PATCH 02/10] Add windows workflow file --- .../rolling-semi-binary-build-win.yml | 30 +++++++++++++++++++ control_toolbox.windows.rolling.repos | 17 +++++++++++ 2 files changed, 47 insertions(+) create mode 100644 .github/workflows/rolling-semi-binary-build-win.yml create mode 100644 control_toolbox.windows.rolling.repos diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml new file mode 100644 index 00000000..3c38de36 --- /dev/null +++ b/.github/workflows/rolling-semi-binary-build-win.yml @@ -0,0 +1,30 @@ +name: Rolling Windows Semi-Binary Build +# author: Christoph Fröhlich +# description: 'Build & test all dependencies from semi-binary packages.' + +on: + workflow_dispatch: + pull_request: + branches: + - master + # types: + # - labeled + push: + branches: + - master + # issue_comment: + # types: + # - created + +jobs: + binary-windows: + # if: | + # (github.event_name == 'issue_comment' && contains(github.event.comment.body, '/check-windows')) || + # (github.event_name == 'pull_request' && contains(github.event.label.name, 'check-windows')) || + # (github.event_name == 'workflow_dispatch') + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@windows/pixi + with: + ros_distro: rolling + ref_for_scheduled_build: master + pixi_dependencies: boost compilers + windows_dependencies: control_toolbox.windows.rolling.repos \ No newline at end of file diff --git a/control_toolbox.windows.rolling.repos b/control_toolbox.windows.rolling.repos new file mode 100644 index 00000000..cc8da79c --- /dev/null +++ b/control_toolbox.windows.rolling.repos @@ -0,0 +1,17 @@ +repositories: + filters: + type: git + url: https://github.com/christophfroehlich/filters.git + version: ros2-boost + cpp_polyfills: + type: git + url: https://github.com/PickNikRobotics/cpp_polyfills.git + version: main + rsl: + type: git + url: https://github.com/PickNikRobotics/RSL.git + version: main + generate_parameter_library: + type: git + url: https://github.com/PickNikRobotics/generate_parameter_library.git + version: main From ef28e6d9499d41f0e741239cbddee7bb6d4e2042 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 15 Jun 2025 23:48:26 +0200 Subject: [PATCH 03/10] Fix pre-commit --- .github/workflows/rolling-semi-binary-build-win.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml index 3c38de36..0a5d5338 100644 --- a/.github/workflows/rolling-semi-binary-build-win.yml +++ b/.github/workflows/rolling-semi-binary-build-win.yml @@ -27,4 +27,4 @@ jobs: ros_distro: rolling ref_for_scheduled_build: master pixi_dependencies: boost compilers - windows_dependencies: control_toolbox.windows.rolling.repos \ No newline at end of file + windows_dependencies: control_toolbox.windows.rolling.repos From b18b59195476892ac4cf3b26999ae527bbf631c3 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Sun, 15 Jun 2025 23:49:55 +0200 Subject: [PATCH 04/10] Fix branch filters --- .github/workflows/rolling-semi-binary-build-win.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml index 0a5d5338..d2e5a99c 100644 --- a/.github/workflows/rolling-semi-binary-build-win.yml +++ b/.github/workflows/rolling-semi-binary-build-win.yml @@ -6,12 +6,12 @@ on: workflow_dispatch: pull_request: branches: - - master + - ros2-master # types: # - labeled push: branches: - - master + - ros2-master # issue_comment: # types: # - created From eaa9409e9e4d6a4370ff809fcacf5540161fc5c8 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Mon, 16 Jun 2025 00:08:17 +0200 Subject: [PATCH 05/10] Use Ninja generator for rsl --- .github/workflows/rolling-semi-binary-build-win.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml index d2e5a99c..14725dca 100644 --- a/.github/workflows/rolling-semi-binary-build-win.yml +++ b/.github/workflows/rolling-semi-binary-build-win.yml @@ -28,3 +28,4 @@ jobs: ref_for_scheduled_build: master pixi_dependencies: boost compilers windows_dependencies: control_toolbox.windows.rolling.repos + ninja_packages: rsl From ddaaea69301ac8e0ca51d87b581e3ece3057ab33 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Mon, 16 Jun 2025 13:45:26 +0200 Subject: [PATCH 06/10] explicitly install jinja2 --- .github/workflows/rolling-semi-binary-build-win.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml index 14725dca..0e88e838 100644 --- a/.github/workflows/rolling-semi-binary-build-win.yml +++ b/.github/workflows/rolling-semi-binary-build-win.yml @@ -26,6 +26,6 @@ jobs: with: ros_distro: rolling ref_for_scheduled_build: master - pixi_dependencies: boost compilers + pixi_dependencies: jinja2 boost compilers windows_dependencies: control_toolbox.windows.rolling.repos ninja_packages: rsl From 9df84bbb230ff9eb1ce39adea642897dd93ed75a Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Mon, 16 Jun 2025 14:08:25 +0200 Subject: [PATCH 07/10] Add typeguard --- .github/workflows/rolling-semi-binary-build-win.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml index 0e88e838..4d682b81 100644 --- a/.github/workflows/rolling-semi-binary-build-win.yml +++ b/.github/workflows/rolling-semi-binary-build-win.yml @@ -26,6 +26,6 @@ jobs: with: ros_distro: rolling ref_for_scheduled_build: master - pixi_dependencies: jinja2 boost compilers + pixi_dependencies: typeguard jinja2 boost compilers windows_dependencies: control_toolbox.windows.rolling.repos ninja_packages: rsl From 04e2c705aa25c86979cb310b58716d31e2e053c5 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Mon, 16 Jun 2025 14:27:18 +0200 Subject: [PATCH 08/10] Fix typo --- control_toolbox/src/pid.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control_toolbox/src/pid.cpp b/control_toolbox/src/pid.cpp index dc0246ad..a2db9505 100644 --- a/control_toolbox/src/pid.cpp +++ b/control_toolbox/src/pid.cpp @@ -428,7 +428,7 @@ double Pid::compute_command(double error, double error_dot, const double & dt_s) } else if (gains.antiwindup_strat_ == AntiwindupStrategy::CONDITIONAL_INTEGRATION) { - if (!(!iszero(cmd_unsat_ - cmd_) && error * cmd_unsat_ > 0)) + if (!(!is_zero(cmd_unsat_ - cmd_) && error * cmd_unsat_ > 0)) { i_term_ += dt_s * gains.i_gain_ * error; } From e22fc20473c40bf5ee13cc7066e363712319ba78 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Mon, 23 Jun 2025 09:13:39 +0200 Subject: [PATCH 09/10] Use master branch of CI repo --- .github/workflows/rolling-semi-binary-build-win.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml index 4d682b81..7787bdc0 100644 --- a/.github/workflows/rolling-semi-binary-build-win.yml +++ b/.github/workflows/rolling-semi-binary-build-win.yml @@ -22,7 +22,7 @@ jobs: # (github.event_name == 'issue_comment' && contains(github.event.comment.body, '/check-windows')) || # (github.event_name == 'pull_request' && contains(github.event.label.name, 'check-windows')) || # (github.event_name == 'workflow_dispatch') - uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@windows/pixi + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master with: ros_distro: rolling ref_for_scheduled_build: master From 3ffa9c7ac87e85009255e86d024db337c1ffea12 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Mon, 23 Jun 2025 07:54:22 +0000 Subject: [PATCH 10/10] Filters should now build from HEAD version --- control_toolbox.windows.rolling.repos | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/control_toolbox.windows.rolling.repos b/control_toolbox.windows.rolling.repos index cc8da79c..8ab87b0c 100644 --- a/control_toolbox.windows.rolling.repos +++ b/control_toolbox.windows.rolling.repos @@ -1,8 +1,8 @@ repositories: filters: type: git - url: https://github.com/christophfroehlich/filters.git - version: ros2-boost + url: https://github.com/ros/filters.git + version: ros2 cpp_polyfills: type: git url: https://github.com/PickNikRobotics/cpp_polyfills.git