Merge branch 'master' into feat/issue-759-reup

Author: soham2560

.github/workflows/humble-pre-release.yml

@@ -0,0 +1,27 @@
+name: Humble - pre-release
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+    inputs:
+      downstream_depth:
+        description: 'The depth of the depends-on tree to be included in the overlay workspace (-1 implies unlimited, default: 0)'
+        required: false
+        default: 0
+        type: number
+  pull_request:
+    branches:
+      - humble
+    types:
+      - opened # default
+      - reopened # default
+      - synchronize # default
+      - labeled # also if a label changes
+
+jobs:
+  default:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-prerelease.yml@master
+    with:
+      ros_distro: humble
+      # downstream_depth is not set on pull_request event
+      prerelease_downstream_depth: ${{ github.event_name == 'pull_request' && '0' || inputs.downstream_depth }}

.github/workflows/humble-semi-binary-downstream-3rd-party-build.yml

@@ -0,0 +1,27 @@
+name: Jazzy - pre-release
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+    inputs:
+      downstream_depth:
+        description: 'The depth of the depends-on tree to be included in the overlay workspace (-1 implies unlimited, default: 0)'
+        required: false
+        default: 0
+        type: number
+  pull_request:
+    branches:
+      - jazzy
+    types:
+      - opened # default
+      - reopened # default
+      - synchronize # default
+      - labeled # also if a label changes
+
+jobs:
+  default:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-prerelease.yml@master
+    with:
+      ros_distro: jazzy
+      # downstream_depth is not set on pull_request event
+      prerelease_downstream_depth: ${{ github.event_name == 'pull_request' && '0' || inputs.downstream_depth }}

.github/workflows/jazzy-pre-release.yml

@@ -0,0 +1,32 @@
+name: Rolling - pre-release
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+    inputs:
+      downstream_depth:
+        description: 'The depth of the depends-on tree to be included in the overlay workspace (-1 implies unlimited, default: 0)'
+        required: false
+        default: 0
+        type: number
+  pull_request:
+    branches:
+      - master
+    types:
+      - opened # default
+      - reopened # default
+      - synchronize # default
+      - labeled # also if a label changes
+
+jobs:
+  default:
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [kilted, rolling]
+
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-prerelease.yml@master
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      # downstream_depth is not set on pull_request event
+      prerelease_downstream_depth: ${{ github.event_name == 'pull_request' && '0' || inputs.downstream_depth }}

.github/workflows/jazzy-semi-binary-downstream-3rd-party-build.yml

@@ -38,13 +38,11 @@ concurrency:
 
 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@master
     with:
       ros_distro: rolling
       pixi_dependencies: typeguard jinja2 boost compilers
       windows_dependencies: ros2_control.windows.rolling.repos
       ninja_packages: rsl
+      skip_packages: diagnostic_remote_logging generate_parameter_library_example_external generate_parameter_library_example
+      target_cmake_args: -DBUILD_TESTING=OFF

.github/workflows/rolling-pre-release.yml

@@ -12,7 +12,7 @@ jobs:
       issues: write
       pull-requests: write
     steps:
-      - uses: actions/stale@v9
+      - uses: actions/stale@v10
         with:
           stale-issue-label: 'stale'
           stale-pr-label: 'stale'

.github/workflows/rolling-semi-binary-build-win.yml

@@ -683,6 +683,21 @@ class ControllerManager : public rclcpp::Node
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr robot_description_subscription_;
   rclcpp::TimerBase::SharedPtr robot_description_notification_timer_;
 
+  struct ControllerManagerExecutionTime
+  {
+    double read_time = 0.0;
+    double update_time = 0.0;
+    double write_time = 0.0;
+    double switch_time = 0.0;
+    double total_time = 0.0;
+    double switch_chained_mode_time = 0.0;
+    double switch_perform_mode_time = 0.0;
+    double deactivation_time = 0.0;
+    double activation_time = 0.0;
+  };
+
+  ControllerManagerExecutionTime execution_time_;
+
   controller_manager::MovingAverageStatistics periodicity_stats_;
 
   struct SwitchParams

.github/workflows/rolling-semi-binary-downstream-3rd-party-build.yml

@@ -24,13 +24,12 @@
 #include <vector>
 #include "controller_interface/controller_interface_base.hpp"
 #include "hardware_interface/controller_info.hpp"
-#include "libstatistics_collector/moving_average_statistics/moving_average.hpp"
+#include "hardware_interface/types/statistics_types.hpp"
 
 namespace controller_manager
 {
 
-using MovingAverageStatistics =
-  libstatistics_collector::moving_average_statistics::MovingAverageStatistics;
+using MovingAverageStatistics = ros2_control::MovingAverageStatistics;
 /// Controller Specification
 /**
  * This struct contains both a pointer to a given controller, \ref c, as well