Merge branch 'master' into master

Author: saikishor

.github/workflows/rolling-abi-compatibility.yml

@@ -14,7 +14,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
-      - 'ros2_control-not-released.kilted.repos'
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches

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

@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
-      - 'ros2_control-not-released.kilted.repos'
   push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies

.github/workflows/rolling-debian-build.yml

@@ -14,7 +14,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-      - 'ros2_control.kilted.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * MON-FRI'

.github/workflows/rolling-rhel-binary-build.yml

@@ -14,7 +14,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-      - 'ros2_control.kilted.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * MON-FRI'

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

@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-      - 'ros2_control.kilted.repos'
   push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies

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

@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros_controls.rolling.repos'
-      - 'ros_controls.kilted.repos'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

.github/workflows/rolling-source-build.yml

@@ -14,7 +14,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-      - 'ros2_control.kilted.repos'
   pull_request:
     branches:
       - master

controller_manager/CMakeLists.txt

@@ -9,14 +9,15 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   controller_interface
   controller_manager_msgs
   diagnostic_updater
+  fmt
+  generate_parameter_library
   hardware_interface
+  libstatistics_collector
+  lifecycle_msgs
   pluginlib
   rclcpp
   realtime_tools
   std_msgs
-  libstatistics_collector
-  generate_parameter_library
-  fmt
 )
 
 find_package(ament_cmake REQUIRED)

controller_manager/package.xml

@@ -19,34 +19,35 @@
   <depend>controller_interface</depend>
   <depend>controller_manager_msgs</depend>
   <depend>diagnostic_updater</depend>
+  <depend>fmt</depend>
+  <depend>generate_parameter_library</depend>
   <depend>hardware_interface</depend>
-  <depend>launch</depend>
-  <depend>launch_ros</depend>
+  <depend>libstatistics_collector</depend>
+  <depend>lifecycle_msgs</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>rcpputils</depend>
   <depend>realtime_tools</depend>
-  <depend>ros2_control_test_assets</depend>
-  <depend>ros2param</depend>
-  <depend>ros2run</depend>
   <depend>std_msgs</depend>
-  <depend>libstatistics_collector</depend>
-  <depend>generate_parameter_library</depend>
-  <depend>fmt</depend>
+
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>launch_testing_ros</exec_depend>
+  <exec_depend>launch</exec_depend>
   <exec_depend>python3-filelock</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>ros2param</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>example_interfaces</test_depend>
   <test_depend>hardware_interface_testing</test_depend>
-  <test_depend>launch_testing_ros</test_depend>
   <test_depend>launch_testing</test_depend>
-  <test_depend>launch</test_depend>
   <test_depend>python3-coverage</test_depend>
-  <test_depend>rclpy</test_depend>
   <test_depend>robot_state_publisher</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
-  <test_depend>sensor_msgs</test_depend>
-  <test_depend>example_interfaces</test_depend>
+  <test_depend>ros2pkg</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

hardware_interface/CMakeLists.txt

@@ -14,7 +14,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   rcutils
   realtime_tools
   TinyXML2
-  tinyxml2_vendor
   joint_limits
   urdf
   pal_statistics
@@ -50,7 +49,6 @@ target_link_libraries(hardware_interface PUBLIC
                       rcpputils::rcpputils
                       ${joint_limits_TARGETS}
                       ${TinyXML2_LIBRARIES}
-                      ${tinyxml2_vendor_LIBRARIES}
                       ${pal_statistics_LIBRARIES}
                       ${control_msgs_TARGETS}
                       ${lifecycle_msgs_TARGETS}