Merge branch 'ros2-master' into add/exp_filter

ros-controls · Nov 20, 2024 · afc34ba · afc34ba
2 parents 41702d3 + 641c929
commit afc34ba
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diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -0,0 +1,34 @@
+pull_request_rules:
+
+  - name: Ask to resolve conflict
+    conditions:
+      - conflict
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @{{author}}?
+
+  - name: Ask to resolve conflict for backports
+    conditions:
+      - conflict
+      - author=mergify[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?
+
+  - name: development targets master branch
+    conditions:
+      - base!=master
+      - author!=bmagyar
+      - author!=destogl
+      - author!=christophfroehlich
+      - author!=saikishor
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: |
+            @{{author}}, all pull requests must be targeted towards the `master` development branch.
+            Once merged into `master`, it is possible to backport to `{{base}}`, but it must be in `master`
+            to have these changes reflected into new distributions.
diff --git a/.github/workflows/abi-compatibility.yml b/.github/workflows/abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, iron, humble]
+        ROS_DISTRO: [rolling, jazzy, humble]
     steps:
       - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master

diff --git a/.github/workflows/build-binary.yml b/.github/workflows/build-binary.yml
@@ -18,7 +18,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, iron, humble]
+        ROS_DISTRO: [rolling, jazzy, humble]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

diff --git a/.github/workflows/build-semi-binary.yml b/.github/workflows/build-semi-binary.yml
@@ -18,7 +18,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, iron, humble]
+        ROS_DISTRO: [rolling, jazzy, humble]
         ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

diff --git a/.github/workflows/build-source.yml b/.github/workflows/build-source.yml
@@ -18,9 +18,6 @@ jobs:
         - ROS_DISTRO: humble
           CONTAINER: ""
           OS_NAME: ubuntu-22.04
-        - ROS_DISTRO: iron
-          CONTAINER: ""
-          OS_NAME: ubuntu-22.04
         - ROS_DISTRO: jazzy
           CONTAINER: ubuntu:24.04
           OS_NAME: ubuntu-latest

diff --git a/.github/workflows/ci-pre-commit.yml b/.github/workflows/ci-pre-commit.yml
@@ -10,6 +10,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, iron, jazzy, rolling]
+        ROS_DISTRO: [humble, jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/debian-build.yml b/.github/workflows/debian-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, iron, humble]
+        ROS_DISTRO: [rolling, jazzy, humble]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: control_toolbox.${{ matrix.ROS_DISTRO }}.repos

diff --git a/.github/workflows/rhel-semi-binary-build.yml b/.github/workflows/rhel-semi-binary-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy, iron, humble]
+        ROS_DISTRO: [rolling, jazzy, humble]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: control_toolbox.${{ matrix.ROS_DISTRO }}.repos

diff --git a/README.md b/README.md
@@ -13,7 +13,6 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`ros2-master`](https://github.com/ros-controls/control_toolbox/tree/ros2-master) | [![Binary Build](https://github.com/ros-controls/control_toolbox/actions/workflows/build-binary.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/build-binary.yml?branch=ros2-master) <br /> [![Rolling Source Build](https://github.com/ros-controls/control_toolbox/actions/workflows/build-source.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/build-source.yml?branch=ros2-master) | [API](http://docs.ros.org/en/rolling/p/control_toolbox/)  | [control_toolbox](https://index.ros.org/p/control_toolbox/#rolling)
 **Jazzy** | [`ros2-master`](https://github.com/ros-controls/control_toolbox/tree/ros2-master) | see above | [API](http://docs.ros.org/en/jazzy/p/control_toolbox/) | [control_toolbox](https://index.ros.org/p/control_toolbox/#jazzy)
-**Iron** | [`ros2-master`](https://github.com/ros-controls/control_toolbox/tree/ros2-master) | see above | [API](http://docs.ros.org/en/iron/p/control_toolbox/) | [control_toolbox](https://index.ros.org/p/control_toolbox/#iron)
 **Humble** | [`ros2-master`](https://github.com/ros-controls/control_toolbox/tree/ros2-master) | see above | [API](http://docs.ros.org/en/humble/p/control_toolbox/) | [control_toolbox](https://index.ros.org/p/control_toolbox/#humble)
 
 ## Publication

diff --git a/codecov.yml b/codecov.yml
@@ -9,10 +9,6 @@ coverage:
     patch: off
 fixes:
   - "ros_ws/src/control_toolbox/::"
-ignore:
-  - "**/test"
-  - "test"
-  - "test/**/*"
 comment:
   layout: "diff, flags, files"
   behavior: default
diff --git a/control_toolbox-not-released.iron.repos b/control_toolbox-not-released.iron.repos
diff --git a/control_toolbox.iron.repos b/control_toolbox.iron.repos
diff --git a/include/control_filters/low_pass_filter.hpp b/include/control_filters/low_pass_filter.hpp
@@ -15,11 +15,8 @@
 #ifndef CONTROL_FILTERS__LOW_PASS_FILTER_HPP_
 #define CONTROL_FILTERS__LOW_PASS_FILTER_HPP_
 
-#include <Eigen/Dense>
-#include <cmath>
 #include <memory>
 #include <string>
-#include <vector>
 
 #include "filters/filter_base.hpp"
 #include "geometry_msgs/msg/wrench_stamped.hpp"
@@ -36,8 +33,6 @@ namespace control_filters
 
   This class implements a low-pass filter for
   various data types based on an Infinite Impulse Response Filter.
-  For vector elements, the filtering is applied separately on
-  each element of the vector.
 
   In particular, this class implements a simplified version of
   an IIR filter equation :
@@ -96,7 +91,6 @@ class LowPassFilter : public filters::FilterBase<T>
   bool update(const T & data_in, T & data_out) override;
 
 private:
-  rclcpp::Clock::SharedPtr clock_;
   std::shared_ptr<rclcpp::Logger> logger_;
   std::shared_ptr<low_pass_filter::ParamListener> parameter_handler_;
   low_pass_filter::Params parameters_;
@@ -106,7 +100,6 @@ class LowPassFilter : public filters::FilterBase<T>
 template <typename T>
 bool LowPassFilter<T>::configure()
 {
-  clock_ = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
   logger_.reset(
     new rclcpp::Logger(this->logging_interface_->get_logger().get_child(this->filter_name_)));