ros-controls · christophfroehlich · Apr 18, 2025 · Apr 18, 2025 · Apr 22, 2025
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
@@ -25,5 +25,4 @@ jobs:
     with:
       ros_distro: humble
       ref: humble
-      ros2_repo_branch: humble
       os_name: ubuntu-22.04
diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
@@ -3,7 +3,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -16,7 +16,7 @@ on:
       - '**.xml'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 

diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
       - '*feature*'
       - '*feature/**'
     paths:
@@ -22,7 +22,7 @@ on:
       - '**.xml'
   push:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -38,7 +38,7 @@ on:
     - cron: '03 1 * * *'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
@@ -53,4 +53,4 @@ jobs:
       ros_distro: jazzy
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers-not-released.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml
@@ -4,7 +4,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.rst'
       - '**.md'

diff --git a/.github/workflows/jazzy-coverage-build.yml b/.github/workflows/jazzy-coverage-build.yml
@@ -1,40 +1,39 @@
 name: Coverage Build - Jazzy
 on:
   workflow_dispatch:
-  # TODO(anyone) activate when branched for Jazzy
-  # push:
-  #   branches:
-  #     - master
-  #   paths:
-  #     - '**.hpp'
-  #     - '**.h'
-  #     - '**.cpp'
-  #     - '.github/workflows/jazzy-coverage-build.yml'
-  #     - '**.yaml'
-  #     - '**/package.xml'
-  #     - '**/CMakeLists.txt'
-  #     - 'codecov.yml'
-  #     - '**/package.xml'
-  #     - '**/CMakeLists.txt'
-  #     - 'ros2_controllers.jazzy.repos'
-  # pull_request:
-  #   branches:
-  #     - master
-  #   paths:
-  #     - '**.hpp'
-  #     - '**.h'
-  #     - '**.cpp'
-  #     - '.github/workflows/jazzy-coverage-build.yml'
-  #     - '**.yaml'
-  #     - '**/package.xml'
-  #     - '**/CMakeLists.txt'
-  #     - 'codecov.yml'
-  #     - '**/package.xml'
-  #     - '**/CMakeLists.txt'
-  #     - 'ros2_controllers.jazzy.repos'
+  push:
+    branches:
+      - jazzy
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-coverage-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  pull_request:
+    branches:
+      - jazzy
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-coverage-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 

diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
@@ -3,7 +3,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -20,7 +20,7 @@ on:
     - cron: '03 1 * * *'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
@@ -31,5 +31,5 @@ jobs:
     with:
       ros_distro: jazzy
       upstream_workspace: ros2_controllers.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml
@@ -4,7 +4,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml
@@ -3,7 +3,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -20,7 +20,7 @@ on:
     - cron: '03 1 * * *'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
@@ -30,5 +30,5 @@ jobs:
     with:
       ros_distro: jazzy
       upstream_workspace: ros2_controllers.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
       - '*feature*'
       - '*feature/**'
     paths:
@@ -21,7 +21,7 @@ on:
       - '**.xml'
   push:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -38,7 +38,7 @@ on:
     - cron: '33 1 * * *'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
@@ -49,14 +49,14 @@ jobs:
       ros_distro: jazzy
       ros_repo: testing
       upstream_workspace: ros2_controllers.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
   semi_binary_clang:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     with:
       ros_distro: jazzy
       ros_repo: testing
       upstream_workspace: ros2_controllers.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       additional_debs: clang
       c_compiler: clang
       cxx_compiler: clang++

diff --git a/.github/workflows/jazzy-semi-binary-downstream-build.yml b/.github/workflows/jazzy-semi-binary-downstream-build.yml
@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -29,7 +29,7 @@ jobs:
     with:
       ros_distro: jazzy
       ros_repo: testing
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       upstream_workspace: ros2_controllers.jazzy.repos
       # we don't test this repository, we just build it
       not_test_build: true
@@ -41,7 +41,7 @@ jobs:
     with:
       ros_distro: jazzy
       ros_repo: testing
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       upstream_workspace: ros2_controllers.jazzy.repos
       # we don't test this repository, we just build it
       not_test_build: true

diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml
@@ -3,7 +3,7 @@ on:
   workflow_dispatch:
   push:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -24,6 +24,5 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
     with:
       ros_distro: jazzy
-      ref: master
-      ros2_repo_branch: jazzy
+      ref: jazzy
       container: ubuntu:24.04
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
@@ -25,5 +25,4 @@ jobs:
     with:
       ros_distro: rolling
       ref: master
-      ros2_repo_branch: rolling
       container: ubuntu:24.04
diff --git a/README.md b/README.md
@@ -14,9 +14,9 @@ If you are new to the project, please read the [contributing guide](https://cont
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Rdev__ros2_controllers__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Rdev__ros2_controllers__ubuntu_noble_amd64/) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
-**Jazzy** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml?branch=master) <br> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Jdev__ros2_controllers__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Jdev__ros2_controllers__ubuntu_noble_amd64/) | [control.ros.org](https://control.ros.org/jazzy/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#jazzy)
-**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master) <br> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Hdev__ros2_controllers__ubuntu_jammy_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Hdev__ros2_controllers__ubuntu_jammy_amd64/) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
+**Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Rdev__ros2_controllers__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Rdev__ros2_controllers__ubuntu_noble_amd64/) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary/)
+**Jazzy** | [`jazzy`](https://github.com/ros-controls/ros2_controllers/tree/jazzy) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml?branch=master) <br> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Jdev__ros2_controllers__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Jdev__ros2_controllers__ubuntu_noble_amd64/) | [control.ros.org](https://control.ros.org/jazzy/doc/ros2_controllers/doc/controllers_index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary/)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master) <br> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Hdev__ros2_controllers__ubuntu_jammy_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Hdev__ros2_controllers__ubuntu_jammy_amd64/) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__ros2_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__ros2_controllers__ubuntu_jammy_amd64__binary/)
 
 ## Acknowledgements
 

diff --git a/doc/migration.rst b/doc/migration.rst
@@ -1,23 +1,5 @@
 :github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration.rst
 
-Migration Guides: Iron to Jazzy
+Migration Guides: Jazzy to Kilted
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-This list summarizes important changes between Iron (previous) and Jazzy (current) releases, where changes to user code might be necessary.
-
-
-diff_drive_controller
-*****************************
-* The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/pull/812>`_).
-* Parameters ``has_velocity_limits``, ``has_acceleration_limits``, and ``has_jerk_limits`` are removed. Instead, set the respective limits to ``.NAN``. (`#1315 <https://github.com/ros-controls/ros2_controllers/pull/1315>`_).
-
-joint_trajectory_controller
-*****************************
-
-* Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/pull/834>`_).
-* The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/pull/839>`_).
-* Goals are now cancelled in ``on_deactivate`` transition (`#962 <https://github.com/ros-controls/ros2_controllers/pull/962>`_).
-* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/pull/902>`_).
-* Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
-* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint.
-* Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). Adaptions to the action goal might be necessary.
-* Parameter ``open_loop_control`` is replaced by ``interpolate_from_desired_state`` and setting the feedback gains to zero (`#1525 <https://github.com/ros-controls/ros2_controllers/pull/1525>`_).
+This list summarizes important changes between Jazzy (previous) and Kilted (current) releases, where changes to user code might be necessary.