Update README and workflows as galactic is now branched out (#359)

UniversalRobots · May 3, 2022 · 6c88d32 · 6c88d32
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diff --git a/.github/workflows/galactic-binary-build.yml b/.github/workflows/galactic-binary-build.yml
@@ -1,11 +1,5 @@
 name: Galactic Binary Build
 on:
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 4 * * *'

diff --git a/.github/workflows/galactic-semi-binary-build.yml b/.github/workflows/galactic-semi-binary-build.yml
@@ -1,11 +1,5 @@
 name: Galactic Semi-Binary Build
 on:
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '23 5 * * *'

diff --git a/.github/workflows/galactic-source-build.yml b/.github/workflows/galactic-source-build.yml
@@ -1,8 +1,5 @@
 name: Galactic Source Build
 on:
-  push:
-    branches:
-      - main
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '43 2 * * *'

diff --git a/README.md b/README.md
@@ -17,8 +17,8 @@ Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) a
 
 ROS2 Distro | Foxy  | Galactic | Rolling
 :---------: | :---: | :------: | :-----:
-**Branch** | [foxy](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy) | [main](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main) | [main](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main)
-**Build Status** | [![Foxy Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml/badge.svg?event=schedule)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml) <br /> [![Foxy Semi-Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-semi-binary-build.yml/badge.svg?event=schedule)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-semi-binary-build.yml) <br /> [![Foxy Source Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-source-build.yml/badge.svg?event=schedule)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-source-build.yml) | [![Galactic Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml?branch=main) <br /> [![Galactic Semi-Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-semi-binary-build.yml?branch=main) <br /> [![Galactic Source Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-source-build.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-source-build.yml?branch=main) | [![Rolling Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-build.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-build.yml?branch=main) <br /> [![Rolling Semi-Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-build.yml?branch=main) <br /> [![Rolling Source Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-source-build.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-source-build.yml?branch=main)
+**Branch** | [foxy](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy) | [galactic](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic) | [main](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/main)
+**Build Status** | [![Foxy Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml/badge.svg?event=schedule)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-binary-build.yml) <br /> [![Foxy Semi-Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-semi-binary-build.yml/badge.svg?event=schedule)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-semi-binary-build.yml) <br /> [![Foxy Source Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-source-build.yml/badge.svg?event=schedule)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/foxy-source-build.yml) | [![Galactic Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> [![Galactic Source Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-source-build.yml/badge.svg?branch=galactic)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/galactic-source-build.yml?branch=galactic) | [![Rolling Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-build.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-binary-build.yml?branch=main) <br /> [![Rolling Semi-Binary Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-semi-binary-build.yml?branch=main) <br /> [![Rolling Source Build](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-source-build.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/rolling-source-build.yml?branch=main)
 **Execution Test** |  |  | [![Execution Testing](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/test-ci.yml/badge.svg?branch=main)](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/actions/workflows/test-ci.yml?branch=main)
 
 **NOTE**: There are three build stages checking current and future compatibility of the driver.
@@ -35,10 +35,6 @@ ROS2 Distro | Foxy  | Galactic | Rolling
 1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
 
 
-## Known Issues
-
--
-
 ## Packages in the Repository:
 
   - `ur_bringup` - launch file and run-time configurations, e.g. controllers.
@@ -51,7 +47,10 @@ ROS2 Distro | Foxy  | Galactic | Rolling
 
 ## Getting Started
 
-1. [Install ROS2 Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) or [Install ROS2 Galactic](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html). This branch will support both distributions until API breaking changes are made, at which point a `galactic` branch will be forked. For using this driver with ROS2 `foxy` checkout [foxy branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy).
+1. [Install ROS2 Rolling](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html).
+   For using this driver with ROS2 `foxy`. Checkout [foxy
+   branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy), for using it
+   with ROS2 ``galactic``, use the [galactic branch](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/galactic).
 
 2. Make sure that `colcon`, its extensions and `vcs` are installed:
    ```
@@ -94,51 +93,6 @@ ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
 Now you should be able to use the MoveIt Plugin in rviz2 to plan and execute trajectories with the
 robot as explained [here](https://moveit.picknik.ai/galactic/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).
 
-### Fake hardware on ROS2 Galactic
-
-Currently, the `scaled_joint_trajectory_controller` does not work on ROS2 Galactic. There is an
-[upstream Merge-Request]() pending to fix that. Until this is merged and released, please change the
-default controller in the [controllers.yaml](ur_moveit_config/config/controllers.yaml) file. Make
-sure that the `default` field is assigned `true` for the `joint_trajectory_controller` and `false`
-for the
-`scaled_joint_trajectory_controller`.
-
-```
-controller_names:
-  - scaled_joint_trajectory_controller
-  - joint_trajectory_controller
-scaled_joint_trajectory_controller:
-  action_ns: follow_joint_trajectory
-  type: FollowJointTrajectory
-  default: false
-  joints:
-    - shoulder_pan_joint
-    - shoulder_lift_joint
-    - elbow_joint
-    - wrist_1_joint
-    - wrist_2_joint
-    - wrist_3_joint
-joint_trajectory_controller:
-  action_ns: follow_joint_trajectory
-  type: FollowJointTrajectory
-  default: true
-  joints:
-    - shoulder_pan_joint
-    - shoulder_lift_joint
-    - elbow_joint
-    - wrist_1_joint
-    - wrist_2_joint
-    - wrist_3_joint
-```
-
-Then start
-
-```
-ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
-# and in another shell
-ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
-```
-
 ## Network Setup
 
 There are many possible ways to connect a UR robot. This section describes a good example using static IP addresses and a direct connection from the PC to the Robot to minimize latency introduced by network hardware. Though a good network switch usually works fine, as well.