Merge pull request #270 from ROBOTIS-GIT/feature-om-xy

Merge OM-X and OM-Y into a unified repository

Author: robotpilot

.github/workflows/ros-ci.yml

@@ -1,35 +1,68 @@
-name: ros-ci
+# The name of the workflow
+name: CI
 
+# Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ master, main, humble ]
+    branches: [ main, jazzy ]
   pull_request:
-    branches: [ master, main, humble ]
+    branches: [ main, jazzy ]
 
+# Defines a set of jobs to be run as part of the workflow
 jobs:
-  ros2-ci:
-    runs-on: ubuntu-latest
+  # The name of the job
+  ROS_CI:
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         ros_distribution:
-          - humble
+          # - humble
+          - jazzy
+          - rolling
         include:
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
-            ros_distribution: humble
+          # ROS 2 Humble Hawksbill
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: humble
+          #   ros_version: 2
+          # ROS 2 Jazzy Jalisco
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+            ros_version: 2
+          # ROS 2 Rolling Ridley
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
             ros_version: 2
     container:
       image: ${{ matrix.docker_image }}
     steps:
-      - name: Setup directories
+      - name: Setup workspace
         run: mkdir -p ros_ws/src
-      - name: checkout
+
+      - name: Checkout code
         uses: actions/checkout@v4
         with:
           path: ros_ws/src
+
+      - name: Setup ROS environment
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
       - name: Build and Test
         uses: ros-tooling/[email protected]
+
         with:
-          package-name: open_manipulator
           target-ros2-distro: ${{ matrix.ros_distribution }}
           vcs-repo-file-url: ""
+          package-name: |
+            open_manipulator
+            open_manipulator_bringup
+            open_manipulator_description
+            open_manipulator_gui
+            open_manipulator_moveit_config
+            open_manipulator_playground
+            open_manipulator_teleop
+            om_gravity_compensation_controller
+            om_joint_trajectory_command_broadcaster
+            om_spring_actuator_controller

.github/workflows/ros-lint.yml

@@ -0,0 +1,32 @@
+# The name of the workflow
+name: Lint
+
+# Specifies the events that trigger the workflow
+on:
+  pull_request:
+
+# Defines a set of jobs to be run as part of the workflow
+jobs:
+  ament_lint:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [cppcheck, uncrustify, pep257, lint_cmake, xmllint]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup ROS environment
+        uses: ros-tooling/[email protected]
+
+      - name: Run Linter
+        env:
+          AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          linter: ${{ matrix.linter }}
+          distribution: rolling
+          package-name: "*"

Dockerfile

@@ -1,32 +1,40 @@
-# Use the base ROS2 humble image
-FROM ros:humble
+# Use the base ROS2 Jazzy image
+FROM ros:jazzy-ros-base
 
 # Set environment variables
 ENV DEBIAN_FRONTEND=noninteractive
 
 # Install system dependencies
 RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-hardware-interface \
+    ros-${ROS_DISTRO}-dynamixel-sdk \
     libboost-all-dev \
     ros-${ROS_DISTRO}-controller-manager \
     ros-${ROS_DISTRO}-ros2-controllers \
-    ros-${ROS_DISTRO}-moveit \
+    ros-${ROS_DISTRO}-tf-transformations \
+    ros-${ROS_DISTRO}-gz* \
+    ros-${ROS_DISTRO}-pal-statistics \
+    vim \
+    && apt-get install -y ros-${ROS_DISTRO}-moveit-* --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 ENV COLCON_WS=/root/colcon_ws
 WORKDIR ${COLCON_WS}
 
 RUN mkdir -p ${COLCON_WS}/src && \
     cd ${COLCON_WS}/src && \
-    git clone -b humble https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git && \
-    git clone -b humble https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
-    git clone -b humble https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
-    git clone -b humble https://github.com/ROBOTIS-GIT/open_manipulator.git
+    git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git && \
+    git clone -b jazzy https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git && \
+    git clone -b jazzy https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
+    git clone -b jazzy https://github.com/ros-controls/gz_ros2_control
 
 RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
     cd ${COLCON_WS} && \
     colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
-RUN echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc  && \
+    echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc  && \
+    echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc  && \
+    echo "export ROBOT_MODEL=om_y_follower" >> ~/.bashrc
 
 CMD ["bash"]