Add tests for tutorial packages

.github/workflows/kilted-binary-main.yml

@@ -0,0 +1,21 @@
+name: Kilted Binary Main
+on:
+  workflow_dispatch:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    - cron: '34 12 * * 0'
+
+jobs:
+  kilted_binary_main:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: kilted
+      ros_repo: main
+      ref_for_scheduled_build: main

.github/workflows/kilted-binary-testing.yml

@@ -0,0 +1,21 @@
+name: Kilted Binary Testing
+on:
+  workflow_dispatch:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    - cron: '34 12 * * 0'
+
+jobs:
+  kilted_binary_testing:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: kilted
+      ros_repo: testing
+      ref_for_scheduled_build: main

.github/workflows/reusable_ici.yml

@@ -76,6 +76,8 @@ jobs:
           UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
           ROS_DISTRO: ${{ inputs.ros_distro }}
           ROS_REPO: ${{ inputs.ros_repo }}
+          CMAKE_ARGS: -DMY_ROBOT_CELL_CONTROL_BUILD_INTEGRATION_TESTS=ON
+          ADDITIONAL_DEBS: docker.io netcat-openbsd curl  # Needed for integration tests
       - name: prepare target_ws for cache
         if: ${{ always() && ! matrix.env.CCOV }}
         run: |

.github/workflows/rolling-binary-main.yml

@@ -10,7 +10,7 @@ on:
     branches:
       - main
   schedule:
-    - cron: '34 12 * * *'
+    - cron: '34 12 * * 0'
 
 jobs:
   rolling_binary_main:

.github/workflows/rolling-binary-testing.yml

@@ -10,7 +10,7 @@ on:
     branches:
       - main
   schedule:
-    - cron: '34 12 * * *'
+    - cron: '34 12 * * 0'
 
 jobs:
   rolling_binary_testing:

README.md

@@ -1,10 +1,22 @@
 # Universal Robots ROS 2 tutorials
 This package contains tutorials around the ROS 2 packages for Universal Robots.
 
+## Branches & ROS distributions
+This package intends to show use-cases and examples for the ROS 2 packages for Universal Robots.
+The main branch of this repository will be used to show examples for the latest ROS 2 distribution,
+ROS Rolling. For older ROS 2 distributions. This is valid for all active ROS 2 distributions, as
+long as there is no specialized branch for that distribution. The following table shows the
+branches and their corresponding ROS 2 distributions:
+
+| ROS 2 Distro | Branch                                                                                   | Documentation                                                                                                                                                                        |
+|--------------|------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| **Rolling**  | [main](https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials/tree/main)     | [![Documentation](https://img.shields.io/badge/docs-latest-blue)](https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/rolling/doc/ur_tutorials/tutorial_index.html) |
+| **Jazzy**    | [jazzy](https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials/tree/jazzy)   | [![Documentation](https://img.shields.io/badge/docs-jazzy-blue)](https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/jazzy/doc/ur_tutorials/tutorial_index.html)    |
+| **Humble**   | [humble](https://github.com/UniversalRobots/Universal_Robots_ROS2_Tutorials/tree/humble) | --                                                                                                                                                                                   |
+
 ## Getting started
 To use the tutorials from this repository, please make sure to [install ROS
-2](https://docs.ros.org/en/rolling/Installation.html) on your system. Currently, only ROS Jazzy and
-Rolling are supported.
+2](https://docs.ros.org/en/rolling/Installation.html) on your system.
 
 With that, please create a workspace, clone this repo into the workspace, install the dependencies
 and build the workspace.

my_dual_robot_cell/my_dual_robot_cell_control/CMakeLists.txt

@@ -8,4 +8,12 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+if(BUILD_TESTING)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  add_launch_test(test/example_move.py
+    TIMEOUT
+      300
+  )
+endif()
+
 ament_package()

my_dual_robot_cell/my_dual_robot_cell_control/config/combined_controllers.yaml

@@ -24,23 +24,20 @@ controller_manager:
     alice_joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
-    bob_trajectory_controller:
+    bob_joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
 
-    alice_scaled_joint_trajectory_controller:
-      type: ur_controllers/ScaledJointTrajectoryController
+    alice_forward_velocity_controller:
+      type: forward_command_controller/ForwardCommandController
 
-    bob_scaled_joint_trajectory_controller:
-      type: ur_controllers/ScaledJointTrajectoryController
-
-    forward_velocity_controller:
-      type: velocity_controllers/JointGroupVelocityController
+    bob_forward_velocity_controller:
+      type: forward_command_controller/ForwardCommandController
 
     alice_forward_position_controller:
-      type: position_controllers/JointGroupPositionController
+      type: forward_command_controller/ForwardCommandController
 
     bob_forward_position_controller:
-      type: position_controllers/JointGroupPositionController
+      type: forward_command_controller/ForwardCommandController
 
 
 alice_speed_scaling_state_broadcaster:
@@ -114,6 +111,8 @@ alice_joint_trajectory_controller:
       alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
       alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
       alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
+    speed_scaling:
+      state_interface: alice_speed_scaling/speed_scaling_factor
 
 bob_joint_trajectory_controller:
   ros__parameters:
@@ -141,62 +140,8 @@ bob_joint_trajectory_controller:
       bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
       bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
       bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
-
-alice_scaled_joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - alice_shoulder_pan_joint
-      - alice_shoulder_lift_joint
-      - alice_elbow_joint
-      - alice_wrist_1_joint
-      - alice_wrist_2_joint
-      - alice_wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.2
-      goal_time: 0.0
-      alice_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
-      alice_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
-      alice_elbow_joint: { trajectory: 0.2, goal: 0.1 }
-      alice_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
-      alice_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
-      alice_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
-    speed_scaling_interface_name: alice_speed_scaling/speed_scaling_factor
-
-bob_scaled_joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - bob_shoulder_pan_joint
-      - bob_shoulder_lift_joint
-      - bob_elbow_joint
-      - bob_wrist_1_joint
-      - bob_wrist_2_joint
-      - bob_wrist_3_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.2
-      goal_time: 0.0
-      bob_shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
-      bob_shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
-      bob_elbow_joint: { trajectory: 0.2, goal: 0.1 }
-      bob_wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
-      bob_wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
-      bob_wrist_3_joint: { trajectory: 0.2, goal: 0.1 }
-    speed_scaling_interface_name: bob_speed_scaling/speed_scaling_factor
+    speed_scaling:
+      state_interface: bob_speed_scaling/speed_scaling_factor
 
 alice_forward_velocity_controller:
   ros__parameters:
@@ -229,6 +174,7 @@ alice_forward_position_controller:
       - alice_wrist_1_joint
       - alice_wrist_2_joint
       - alice_wrist_3_joint
+    interface_name: position
 
 bob_forward_position_controller:
   ros__parameters:
@@ -239,3 +185,4 @@ bob_forward_position_controller:
       - bob_wrist_1_joint
       - bob_wrist_2_joint
       - bob_wrist_3_joint
+    interface_name: position

my_dual_robot_cell/my_dual_robot_cell_control/launch/start_robots.launch.py

@@ -157,6 +157,9 @@ def controller_spawner(controllers, active=True):
         return Node(
             package="controller_manager",
             executable="spawner",
+            parameters=[
+                ParameterFile(controllers_file, allow_substs=True),
+            ],
             arguments=[
                 "--controller-manager",
                 "/controller_manager",
@@ -189,6 +192,9 @@ def controller_spawner(controllers, active=True):
     alice_initial_joint_controller_spawner_started = Node(
         package="controller_manager",
         executable="spawner",
+        parameters=[
+            ParameterFile(controllers_file, allow_substs=True),
+        ],
         arguments=[
             alice_initial_joint_controller,
             "-c",
@@ -201,6 +207,9 @@ def controller_spawner(controllers, active=True):
     bob_initial_joint_controller_spawner_started = Node(
         package="controller_manager",
         executable="spawner",
+        parameters=[
+            ParameterFile(controllers_file, allow_substs=True),
+        ],
         arguments=[
             bob_initial_joint_controller,
             "-c",
@@ -213,6 +222,9 @@ def controller_spawner(controllers, active=True):
     alice_initial_joint_controller_spawner_stopped = Node(
         package="controller_manager",
         executable="spawner",
+        parameters=[
+            ParameterFile(controllers_file, allow_substs=True),
+        ],
         arguments=[
             alice_initial_joint_controller,
             "-c",
@@ -226,6 +238,9 @@ def controller_spawner(controllers, active=True):
     bob_initial_joint_controller_spawner_stopped = Node(
         package="controller_manager",
         executable="spawner",
+        parameters=[
+            ParameterFile(controllers_file, allow_substs=True),
+        ],
         arguments=[
             bob_initial_joint_controller,
             "-c",
@@ -396,14 +411,14 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "alice_initial_joint_controller",
-            default_value="alice_scaled_joint_trajectory_controller",
+            default_value="alice_joint_trajectory_controller",
             description="Initially loaded robot controller for the alice robot arm.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
             "bob_initial_joint_controller",
-            default_value="bob_scaled_joint_trajectory_controller",
+            default_value="bob_joint_trajectory_controller",
             description="Initially loaded robot controller for the bob robot arm.",
         )
     )

my_dual_robot_cell/my_dual_robot_cell_control/package.xml

@@ -13,9 +13,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>forward_command_controller</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
-  <exec_depend>position_controllers</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>my_dual_robot_cell_description</exec_depend>
   <exec_depend>ur_controllers</exec_depend>
@@ -24,6 +24,8 @@
   <exec_depend>xacro</exec_depend>
   <exec_depend>controller_manager</exec_depend>
 
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>ros2run</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>