Merge remote-tracking branch 'origin/main' into ahcorde/cmake/test_clock

RobotLocomotion · Dec 28, 2023 · 499102a · 499102a
2 parents 7606147 + b7193ad
commit 499102a
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Showing 8 changed files with 19 additions and 16 deletions.
diff --git a/.github/workflows/bazelized.yml b/.github/workflows/bazelized.yml
@@ -20,7 +20,7 @@ jobs:
       # See https://stackoverflow.com/a/73613377/7829525
       options: --cap-add=SYS_PTRACE --security-opt seccomp=unconfined
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       # Caching.
       # See comments in drake-blender for more details:

diff --git a/.github/workflows/bazelized_drake_ros.yml b/.github/workflows/bazelized_drake_ros.yml
@@ -15,7 +15,7 @@ jobs:
     if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Free up space
         run: .github/runner_free_space.sh
 

diff --git a/.github/workflows/drake_model_interop.yml b/.github/workflows/drake_model_interop.yml
@@ -22,8 +22,8 @@ jobs:
     container:
       image: ros:noetic-ros-base-focal
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/cache@v2
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v3
         with:
           path: "/home/runner/.cache/model-interop"
           key: model_interop

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -25,17 +25,17 @@ jobs:
     env:
       PYTHONPATH:
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Simplify apt upgrades
         run: $GITHUB_WORKSPACE/.github/simplify_apt_and_upgrades.sh
-      - uses: ros-tooling/setup-ros@v0.4
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{matrix.ros_distro}}
           use-ros2-testing: "true"
       - name: Cope with Python 2 pollution
         run: apt-get update && apt-get install -y python-is-python3
       - name: Build and test all packages
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: ${{matrix.ros_distro}}
   test_against_archive:
@@ -54,10 +54,10 @@ jobs:
     env:
       PYTHONPATH:
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Simplify apt upgrades
         run: $GITHUB_WORKSPACE/.github/simplify_apt_and_upgrades.sh
-      - uses: ros-tooling/setup-ros@v0.4
+      - uses: ros-tooling/setup-ros@v0.7
       - name: Install dependencies to build ROS packages
         run: |
           sudo mkdir -p /opt/ros/${{matrix.ros_distro}}

diff --git a/drake_ros/drake.bzl b/drake_ros/drake.bzl
@@ -1,5 +1,5 @@
 DRAKE_SUGGESTED_VERSION = struct(
-    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.23.0.tar.gz",  # noqa
-    sha256 = "2e64bca9d5fe942170617d8109ec7ffe5df095d821743c9a619d38599229d03f",  # noqa,
-    strip_prefix = "drake-1.23.0",
+    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.24.0.tar.gz",  # noqa
+    sha256 = "35874238af2c0305525a6f32c28692e3fdbed0581055b0b491669f7534cf6cae",  # noqa,
+    strip_prefix = "drake-1.24.0",
 )
diff --git a/drake_ros_examples/examples/hydroelastic/CMakeLists.txt b/drake_ros_examples/examples/hydroelastic/CMakeLists.txt
@@ -5,6 +5,7 @@ target_link_libraries(hydroelastic
   drake::drake
   drake_ros::drake_ros_viz
   gflags
+  ament_index_cpp::ament_index_cpp
 )
 install(
   TARGETS

diff --git a/drake_ros_examples/examples/rs_flip_flop/rs_flip_flop.cpp b/drake_ros_examples/examples/rs_flip_flop/rs_flip_flop.cpp
@@ -58,14 +58,16 @@ class Memory : public drake::systems::LeafSystem<double> {
                               {all_state_ticket()});
 
     DeclarePerStepEvent(drake::systems::UnrestrictedUpdateEvent<double>(
-        [this](const drake::systems::Context<double>& context,
+        [this](const drake::systems::System<double>&,
+               const drake::systems::Context<double>& context,
                const drake::systems::UnrestrictedUpdateEvent<double>&,
                drake::systems::State<double>* state) {
           // Copy input value to state
           drake::systems::AbstractValues& abstract_state =
               state->get_mutable_abstract_state();
           abstract_state.get_mutable_value(0).SetFrom(
               get_input_port().Eval<drake::AbstractValue>(context));
+          return drake::systems::EventStatus::Succeeded();
         }));
   }
 

diff --git a/ros2_example_bazel_installed/setup/install_prereqs.sh b/ros2_example_bazel_installed/setup/install_prereqs.sh
@@ -75,10 +75,10 @@ if [[ -z "${ROS2_DISTRO_PREFIX:-}" ]]; then
   apt install software-properties-common
   add-apt-repository universe
 
-  apt update && apt install curl -y
-  curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+  # apt update && apt install curl -y
+  # curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | apt-key --keyring /usr/share/keyrings/ros-archive-keyring.gpg add -
 
-  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" |  tee /etc/apt/sources.list.d/ros2.list > /dev/null
+  # echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" |  tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
   apt update