Update readme and CI jobs for iron (backport #197)

.github/dependabot.yml

@@ -11,3 +11,17 @@ updates:
     directory: "/"
     schedule:
       interval: "weekly"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "humble"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "iron"

.github/workflows/ci-iron.yaml

@@ -0,0 +1,84 @@
+name: gz_ros2_control CI - Iron
+
+on:
+  pull_request:
+    branches: [ iron ]
+  push:
+    branches: [ iron ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - docker-image: "ubuntu:22.04"
+            gz-version: "fortress"
+            ros-distro: "iron"
+          - docker-image: "ubuntu:22.04"
+            gz-version: "garden"
+            ros-distro: "iron"
+    env:
+      DOCKER_IMAGE: ${{ matrix.docker-image }}
+      GZ_VERSION: ${{ matrix.gz-version }}
+      ROS_DISTRO: ${{ matrix.ros-distro }}
+    container:
+      image: ${{ matrix.docker-image }}
+    steps:
+    - uses: actions/checkout@v4
+    - name: Setup colcon workspace
+      id: configure
+      shell: bash
+      run: |
+        export DEBIAN_FRONTEND=noninteractive
+        apt update -qq
+        apt install -qq -y lsb-release wget curl gnupg2 git
+        cd ..
+        mkdir -p /home/ros2_ws/src
+        if [ "$ROS_DISTRO" == "rolling" ]; then
+          git clone https://github.com/gazebosim/ros_gz/
+        fi
+        cp -r gz_ros2_control /home/ros2_ws/src/
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+        if [ "$GZ_VERSION" == "garden" ]; then
+          export GZ_DEPS="libgz-sim7-dev libgz-plugin2-dev gz-sim7-cli"
+        fi
+
+        apt-get update && apt-get upgrade -q -y
+        apt-get update && apt-get install -qq -y \
+          dirmngr \
+          python3-colcon-ros \
+          python3-colcon-common-extensions \
+          python3-rosdep \
+          build-essential \
+          ${GZ_DEPS}
+
+        if [ "$GZ_VERSION" == "garden" ]; then
+          export ROSDEP_ARGS="--skip-keys ros_gz_sim --skip-keys gz-plugin2 --skip-keys gz-sim7 --skip-keys gz-transport12 --skip-keys gz-math7 --skip-keys gz-msgs9"
+        fi
+        cd /home/ros2_ws/src/
+        if [ "$ROS_DISTRO" == "rolling" ]; then
+          git clone https://github.com/gazebosim/ros_gz/
+        fi
+        if [ "$ROS_DISTRO" == "iron" ]; then
+          git clone https://github.com/gazebosim/ros_gz/ -b iron
+        fi
+        rosdep init
+        rosdep update
+        rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src ${ROSDEP_ARGS}
+    - name: Build project
+      id: build
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/${ROS_DISTRO}/local_setup.sh
+        colcon build --packages-up-to gz_ros2_control_demos gz_ros2_control_tests
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/${ROS_DISTRO}/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

.github/workflows/ci.yaml → .github/workflows/ci-rolling.yaml

@@ -1,7 +1,8 @@
-name: Gazebo-Sim ros2 control CI
+name: gz_ros2_control CI - Rolling
 
 on:
   pull_request:
+    branches: [ master ]
   push:
     branches: [ master ]
 
@@ -11,15 +12,9 @@ jobs:
     strategy:
       matrix:
         include:
-          - docker-image: "ubuntu:22.04"
-            gz-version: "fortress"
-            ros-distro: "iron"
           - docker-image: "ubuntu:22.04"
             gz-version: "fortress"
             ros-distro: "rolling"
-          - docker-image: "ubuntu:22.04"
-            gz-version: "garden"
-            ros-distro: "iron"
           - docker-image: "ubuntu:22.04"
             gz-version: "garden"
             ros-distro: "rolling"

README.md

@@ -15,23 +15,23 @@ Foxy | Citadel | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/fox
 Foxy | Edifice | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/foxy) | only from source
 Galactic | Edifice | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | https://packages.ros.org
 Galactic | Fortress | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | only from source
-Humble | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
-Iron | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Iron | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
-Iron | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Iron | Harmonic (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Rolling | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Rolling | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
-Rolling | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Rolling | Harmonic (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Humble | Fortress | [humble](https://github.com/ros-controls/gz_ros2_control/tree/humble) | https://packages.ros.org
+Iron | Edifice | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Iron | Fortress | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | https://packages.ros.org
+Iron | Garden (not released) | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Iron | Harmonic (not released) | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Rolling | Edifice | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Rolling | Fortress | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
+Rolling | Garden (not released) | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Rolling | Harmonic (not released) | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
 
 ## Build status
 
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
-**Rolling** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [![Gazebo ros2 control CI](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
-**Iron** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [![Gazebo ros2 control CI](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
-**Humble** | [`humble`](https://github.com/ros-controls/gz_ros2_control/tree/humble) | [![Gazebo ros2 control CI](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml/badge.svg?branch=humble)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)
+**Rolling** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [![gazebo_ros2_control CI - Rolling](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
+**Iron** | [`iron`](https://github.com/ros-controls/gz_ros2_control/tree/iron) | [![gazebo_ros2_control CI - Iron](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml/badge.svg?branch=iron)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
+**Humble** | [`humble`](https://github.com/ros-controls/gz_ros2_control/tree/humble) | [![ign_ros2_control CI - Humble](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-humble.yaml/badge.svg?branch=humble)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-humble.yaml) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)
 ## Documentation
 See the [documentation file](doc/index.rst) or [control.ros.org](https://control.ros.org/master/doc/simulators/gz_ros2_control/doc/index.html)