Merge pull request #4 from ROBOTIS-GIT/feature-cyclo

Initial version of cyclo_control

Author: YoungWook0533

.github/workflows/ros-ci.yml

@@ -49,23 +49,6 @@ jobs:
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
 
-      - name: Install OSQP and OsqpEigen
-        shell: bash
-        run: |
-          set -e
-          apt-get update
-          apt-get install -y --no-install-recommends git cmake build-essential pkg-config
-
-          git clone --depth 1 https://github.com/osqp/osqp.git /tmp/osqp
-          cmake -S /tmp/osqp -B /tmp/osqp/build -G "Unix Makefiles"
-          cmake --build /tmp/osqp/build
-          cmake --build /tmp/osqp/build --target install
-
-          git clone --depth 1 https://github.com/robotology/osqp-eigen.git /tmp/osqp-eigen
-          cmake -S /tmp/osqp-eigen -B /tmp/osqp-eigen/build -DCMAKE_INSTALL_PREFIX=/usr/local
-          cmake --build /tmp/osqp-eigen/build
-          cmake --build /tmp/osqp-eigen/build --target install
-
       - name: Check and Install ROS dependencies
         shell: bash
         run: |
@@ -74,29 +57,24 @@ jobs:
           echo "--- Updating rosdep definitions ---"
           rosdep update
           echo "--- Installing system dependencies for ROS 2 ${{ matrix.ros_distribution }} ---"
-          rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }} --skip-keys "osqp-eigen robotis_interfaces"
+          rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }} --skip-keys robotis_interfaces
           echo "--- Performing rosdep check for ROS 2 ${{ matrix.ros_distribution }} ---"
-          if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }} --skip-keys "osqp-eigen robotis_interfaces"; then
+          if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }} --skip-keys robotis_interfaces; then
             echo "--- rosdep check passed ---"
           else
             echo "--- rosdep check failed: Missing system dependencies or unresolvable keys. ---"
             exit 1
           fi
 
       - name: Build and Test
-        env:
-          CMAKE_PREFIX_PATH: /usr/local:${{ env.CMAKE_PREFIX_PATH }}
-          OsqpEigen_DIR: /usr/local/lib/cmake/OsqpEigen
-          LD_LIBRARY_PATH: /usr/local/lib:${{ env.LD_LIBRARY_PATH }}
         uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_motion_controller/${{ github.event_name == 'pull_request' && github.head_ref || github.ref_name }}/robotis_motion_controller_ci.repos"
+          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/cyclo_control/${{ github.event_name == 'pull_request' && github.head_ref || github.ref_name }}/cyclo_control_ci.repos"
           package-name: |
-            motion_controller
-            motion_controller_core
-            motion_controller_models
-            motion_controller_ros
-            motion_controller_ros_py
-          rosdep-skip-keys: osqp-eigen
-          no-symlink-install: true
+            cyclo_motion_controller
+            osqp_eigen_vendor
+            cyclo_motion_controller_core
+            cyclo_motion_controller_models
+            cyclo_motion_controller_ros
+            cyclo_motion_controller_ros_py

.github/workflows/ros-lint.yml

@@ -1,9 +1,14 @@
+# The name of the workflow
 name: Lint
+
+# Specifies the events that trigger the workflow
 on:
   pull_request:
+
+# Defines a set of jobs to be run as part of the workflow
 jobs:
   ament_lint:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
     container:
       image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
     strategy:
@@ -25,8 +30,9 @@ jobs:
           linter: ${{ matrix.linter }}
           distribution: rolling
           package-name: |
-            motion_controller
-            motion_controller_core
-            motion_controller_models
-            motion_controller_ros
-            motion_controller_ros_py
+            cyclo_motion_controller
+            osqp_eigen_vendor
+            cyclo_motion_controller_core
+            cyclo_motion_controller_models
+            cyclo_motion_controller_ros
+            cyclo_motion_controller_ros_py

.gitignore

@@ -531,3 +531,6 @@ doc/
 
 ## GurumDDS
 *.ar
+
+**/key.pem
+**/cert.pem