Update GitHub artifacts action to v4 (#1014)

* Update artifacts * fix controller manager (wip) * format * fix * fix * fix * disable automatic controller sync * format * format * format * format --------- Co-authored-by: Darko Lukic <lukicdarkoo@gmail.com>
cyberbotics · Dec 21, 2024 · 4f63238 · 4f63238
1 parent 99762e0
commit 4f63238
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Showing 8 changed files with 19 additions and 9 deletions.
diff --git a/.github/workflows/sync_master_to_develop.yml b/.github/workflows/sync_master_to_develop.yml
@@ -1,8 +1,10 @@
 name: Branch synchronizer
 
 on:
-  schedule:
-    - cron:  '0 04 * * *'
+  workflow_dispatch:
+
+  # schedule:
+  #   - cron:  '0 04 * * *'
 
 jobs:
   sync-develop-with-master:

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -32,7 +32,7 @@ jobs:
           ROS_DISTRO: ${{matrix.ROS_DISTRO}}
       - name: Upload Artifact
         if: ${{ failure() }}
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: generic_artifacts_${{matrix.ROS_REPO}}_${{matrix.ROS_DISTRO}}
           path: /artifacts

diff --git a/.github/workflows/test_develop.yml b/.github/workflows/test_develop.yml
@@ -31,7 +31,7 @@ jobs:
           ROS_DISTRO: ${{matrix.ROS_DISTRO}}
       - name: Upload Artifact
         if: ${{ failure() }}
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: generic_artifacts_develop_${{matrix.ROS_REPO}}_${{matrix.ROS_DISTRO}}
           path: /artifacts

diff --git a/webots_ros2_control/src/Ros2Control.cpp b/webots_ros2_control/src/Ros2Control.cpp
@@ -152,7 +152,11 @@ namespace webots_ros2_control {
 
     // Controller Manager
     mExecutor = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
-    mControllerManager.reset(new controller_manager::ControllerManager(std::move(resourceManager), mExecutor));
+
+    rclcpp::NodeOptions options = controller_manager::get_cm_node_options();
+    options.arguments(node->get_node_options().arguments());
+    mControllerManager.reset(new controller_manager::ControllerManager(std::move(resourceManager), mExecutor,
+                                                                       "controller_manager", node->get_namespace(), options));
 
     // Update rate
     const int updateRate = mControllerManager->get_parameter("update_rate").as_int();

diff --git a/webots_ros2_driver/include/webots_ros2_driver/WebotsNode.hpp b/webots_ros2_driver/include/webots_ros2_driver/WebotsNode.hpp
@@ -35,7 +35,7 @@ namespace webots_ros2_driver {
 
   class WebotsNode : public rclcpp::Node {
   public:
-    WebotsNode(std::string name);
+    WebotsNode(std::string name, rclcpp::NodeOptions &options);
     void init();
     int step();
     std::string urdf() const { return mRobotDescription; };

diff --git a/webots_ros2_driver/src/Driver.cpp b/webots_ros2_driver/src/Driver.cpp
@@ -40,7 +40,10 @@ int main(int argc, char **argv) {
   for (char notAllowedChar : " -.)(")
     std::replace(robotName.begin(), robotName.end(), notAllowedChar, '_');
 
-  std::shared_ptr<webots_ros2_driver::WebotsNode> node = std::make_shared<webots_ros2_driver::WebotsNode>(robotName);
+  rclcpp::NodeOptions nodeOptions;
+  nodeOptions.arguments(std::vector<std::string>(argv + 1, argv + argc));
+  std::shared_ptr<webots_ros2_driver::WebotsNode> node =
+    std::make_shared<webots_ros2_driver::WebotsNode>(robotName, nodeOptions);
   node->init();
 
   // The parent process must be ros2 run. Declaring from launch file is deprecated. Remove with 2024.0.0.

diff --git a/webots_ros2_driver/src/WebotsNode.cpp b/webots_ros2_driver/src/WebotsNode.cpp
@@ -50,7 +50,9 @@ namespace webots_ros2_driver {
     gShutdownSignalReceived = true;
   }
 
-  WebotsNode::WebotsNode(std::string name) : Node(name), mPluginLoader(gPluginInterfaceName, gPluginInterface) {
+  WebotsNode::WebotsNode(std::string name, rclcpp::NodeOptions &options) :
+    Node(name, options),
+    mPluginLoader(gPluginInterfaceName, gPluginInterface) {
     mRobotDescriptionParam = this->declare_parameter<std::string>("robot_description", "");
     mSetRobotStatePublisher = this->declare_parameter<bool>("set_robot_state_publisher", false);
     if (mRobotDescriptionParam != "") {

diff --git a/webots_ros2_universal_robot/resource/ros2_control_abb_config.yaml b/webots_ros2_universal_robot/resource/ros2_control_abb_config.yaml
@@ -26,4 +26,3 @@ abb/abb_joint_trajectory_controller:
       - position
 
     allow_partial_joints_goal: true
-
Original file line number	Diff line number	Diff line change
Expand Up		@@ -26,4 +26,3 @@ abb/abb_joint_trajectory_controller:
		- position

		allow_partial_joints_goal: true