Merge branch 'main' into fix-ci-again

.github/workflows/ci-coverage-build.yml

@@ -10,7 +10,7 @@ on:
 jobs:
   coverage:
     name: coverage build
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     strategy:
       fail-fast: false
     env:
@@ -39,12 +39,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.0
+      - uses: codecov/codecov-action@v4
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3.1.0
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -45,7 +45,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_robotiq_gripper.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v1
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log

robotiq_description/urdf/2f_140.ros2_control.xacro

@@ -4,12 +4,12 @@
     <xacro:macro name="robotiq_gripper_ros2_control" params="
         name
         prefix
-        sim_ignition:=false
+        sim_gazebo:=false
         sim_isaac:=false
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
         use_fake_hardware:=false
-        fake_sensor_commands:=false
+        mock_sensor_commands:=false
         com_port:=/dev/ttyUSB0">
 
         <ros2_control name="${name}" type="system">
@@ -20,15 +20,15 @@
                     <param name="joint_commands_topic">${isaac_joint_commands}</param>
                     <param name="joint_states_topic">${isaac_joint_states}</param>
                 </xacro:if>
-                <xacro:if value="${sim_ignition}">
+                <xacro:if value="${sim_gazebo}">
                     <plugin>ign_ros2_control/IgnitionSystem</plugin>
                 </xacro:if>
                 <xacro:if value="${use_fake_hardware}">
                     <plugin>mock_components/GenericSystem</plugin>
-                    <param name="fake_sensor_commands">${fake_sensor_commands}</param>
+                    <param name="mock_sensor_commands">${mock_sensor_commands}</param>
                     <param name="state_following_offset">0.0</param>
                 </xacro:if>
-                <xacro:unless value="${use_fake_hardware or sim_ignition or sim_isaac}">
+                <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
                     <plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
                     <param name="gripper_closed_position">0.695</param>
                     <param name="COM_port">${com_port}</param>
@@ -38,7 +38,7 @@
             </hardware>
 
             <!-- Joint interfaces -->
-            <!-- With Ignition or Hardware, they handle mimic joints, so we only need this command interface activated -->
+            <!-- With Gazebo or Hardware, they handle mimic joints, so we only need this command interface activated -->
             <joint name="${prefix}finger_joint">
                 <command_interface name="position" />
                 <state_interface name="position">
@@ -47,56 +47,41 @@
                 <state_interface name="velocity"/>
             </joint>
             <!-- When simulating we need to include the rest of the gripper joints -->
-            <xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
+            <xacro:if value="${use_fake_hardware or sim_isaac or sim_gazebo}">
                 <joint name="${prefix}left_inner_knuckle_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}left_inner_finger_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}right_outer_knuckle_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}right_inner_knuckle_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}right_inner_finger_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
             </xacro:if>
 
             <!-- Only add this with fake hardware mode -->
-            <xacro:unless value="${sim_ignition or sim_isaac}">
+            <xacro:unless value="${sim_gazebo or sim_isaac}">
                 <gpio name="reactivate_gripper">
                     <command_interface name="reactivate_gripper_cmd" />
                     <command_interface name="reactivate_gripper_response" />