Merge pull request #9 from SCHUNK-SE-Co-KG/add-more-tests

Add more tests

.github/workflows/industrial_ci_humble_action.yml

@@ -19,6 +19,6 @@ jobs:
           - {ROS_DISTRO: humble, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

.github/workflows/industrial_ci_iron_action.yml

@@ -19,6 +19,6 @@ jobs:
           - {ROS_DISTRO: iron, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

.github/workflows/industrial_ci_jazzy_action.yml

@@ -0,0 +1,24 @@
+name: Jazzy
+
+on:
+  push:
+  pull_request:
+  schedule:
+    # Run every Friday at 6:30 am to detect breaking APIs
+    - cron: '30 6 * * 5'
+
+
+jobs:
+  industrial_ci:
+    env:
+      BEFORE_BUILD_TARGET_WORKSPACE: '.github/script/install_dependencies.sh'
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

.github/workflows/industrial_ci_rolling_action.yml

@@ -20,6 +20,6 @@ jobs:
           - {ROS_DISTRO: rolling, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

README.md

@@ -14,6 +14,9 @@
   <a href="https://github.com/SCHUNK-SE-Co-KG/schunk_egu_egk_gripper/actions">
     <img src="https://github.com/SCHUNK-SE-Co-KG/schunk_egu_egk_gripper/actions/workflows/industrial_ci_iron_action.yml/badge.svg" alt="build badge iron">
   </a>
+  <a href="https://github.com/SCHUNK-SE-Co-KG/schunk_egu_egk_gripper/actions">
+    <img src="https://github.com/SCHUNK-SE-Co-KG/schunk_egu_egk_gripper/actions/workflows/industrial_ci_jazzy_action.yml/badge.svg" alt="build badge jazzy">
+  </a>
   <a href="https://github.com/SCHUNK-SE-Co-KG/schunk_egu_egk_gripper/actions">
     <img src="https://github.com/SCHUNK-SE-Co-KG/schunk_egu_egk_gripper/actions/workflows/industrial_ci_rolling_action.yml/badge.svg" alt="build badge rolling">
   </a>
@@ -82,7 +85,7 @@ a) Using a component manager – this process is also outlined in the launch fil
 
 b) Within your custom executable, coupled with a (multithreaded-)executor.
 
-If you prefer starting the node in your main function, ensure that you include `Schunk::schunk_egu_egk_gripper_driver` in CMake's `target_link_libraries()`. Additionally, always specify the IP address, setting the parameter overrides "IP" to your designated IP. Alternatively, create the `SchunkGripperNode`-Component and utilize the `reconnect` service, specifying your IP.
+If you prefer starting the node in your main function, ensure that you include `Schunk::schunk_egu_egk_gripper_driver` in CMake's `target_link_libraries()`. Additionally, always specify the IP address, setting the parameter overrides "IP" to your designated IP.
 
 ## Actions
 All functionalities of the gripper, including movement, are treated as actions. This implies that when gripping, moving, or releasing a workpiece, you need to send a goal and can receive a result or feedback. Releasing a workpiece is the only action where you send an empty goal:
@@ -108,10 +111,8 @@ Services are functionalities that do not involve movement or occur so rapidly th
 - `softreset`
 - `parameter_get`
 - `parameter_set`
-- `reconnect`
 - `release_for_manual_movement`
 - `prepare_for_shutdown`
-- `gripper_info`
 
 **Important:** During a soft reset, no topics will be published. This will last for approximately 7 seconds. Afterward, all publications resume, and you can modify parameters.
 
@@ -121,10 +122,6 @@ Services are functionalities that do not involve movement or occur so rapidly th
 
 All other services can be used whenever you like. (**Note:** Fast stop is an abort of movement, so it always provokes an error).
 
-`gripper_info` publishes some information about the gripper on the terminal screen.
-
-`reconnect` is the only method for altering the IP address during runtime. If nothing is connected to the IP address or a gripper is connected, it undergoes a change. If something else is linked to this IP, errors will occur, and the old address will be retained in such cases. Exercise caution when using this service!
-
 With `parameter_get` and `parameter_set` you can read and set all allowed Parameter of the gripper. For getting and setting you need always the parameter instance. After that
 
 ## Parameters

schunk_egu_egk_gripper_driver/include/schunk_egu_egk_gripper_driver/schunk_gripper_wrapper.hpp

@@ -47,7 +47,6 @@
 #include "schunk_egu_egk_gripper_interfaces/action/release_workpiece.hpp"
 #include "schunk_egu_egk_gripper_interfaces/srv/release_for_manual_movement.hpp"
 #include "schunk_egu_egk_gripper_interfaces/srv/gripper_info.hpp"
-#include "schunk_egu_egk_gripper_interfaces/srv/change_ip.hpp"
 #include "schunk_egu_egk_gripper_interfaces/action/grip.hpp"
 #include "schunk_egu_egk_gripper_interfaces/srv/parameter_get.hpp"
 #include "schunk_egu_egk_gripper_interfaces/srv/parameter_set.hpp"
@@ -70,7 +69,6 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     using Softreset = schunk_egu_egk_gripper_interfaces::srv::Softreset;
     using PrepareForShutdown = schunk_egu_egk_gripper_interfaces::srv::PrepareForShutdown;
     using GripperInfo= schunk_egu_egk_gripper_interfaces::srv::GripperInfo;
-    using ChangeIp = schunk_egu_egk_gripper_interfaces::srv::ChangeIp;
     using ParameterGet = schunk_egu_egk_gripper_interfaces::srv::ParameterGet;
     using ParameterSet = schunk_egu_egk_gripper_interfaces::srv::ParameterSet;
 
@@ -145,11 +143,10 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     void fast_stop_srv(const std::shared_ptr<FastStop::Request>, std::shared_ptr<FastStop::Response>);
     void parameter_get_srv(const std::shared_ptr<ParameterGet::Request>, std::shared_ptr<ParameterGet::Response>);
     void parameter_set_srv(const std::shared_ptr<ParameterSet::Request>, std::shared_ptr<ParameterSet::Response>);
-    void change_ip_srv(const std::shared_ptr<ChangeIp::Request>, std::shared_ptr<ChangeIp::Response>);
     void releaseForManualMov_srv(const std::shared_ptr<ReleaseForManualMovement::Request>, std::shared_ptr<ReleaseForManualMovement::Response>);
     void softreset_srv(const std::shared_ptr<Softreset::Request>, std::shared_ptr<Softreset::Response>);
     void prepare_for_shutdown_srv(const std::shared_ptr<PrepareForShutdown::Request>, std::shared_ptr<PrepareForShutdown::Response>);
-    void info_srv(const std::shared_ptr<GripperInfo::Request>, std::shared_ptr<GripperInfo::Response>);
+    void info_srv(const std::shared_ptr<GripperInfo::Request>, std::shared_ptr<GripperInfo::Response> res);
 
     //Action-basic-functions
     template<typename GoalType, typename ResType>
@@ -198,7 +195,6 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     rclcpp::CallbackGroup::SharedPtr messages_group;
     rclcpp::CallbackGroup::SharedPtr services_group;
     rclcpp::CallbackGroup::SharedPtr actions_group;
-    rclcpp::CallbackGroup::SharedPtr rest;
 
     public:
 
@@ -224,7 +220,6 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     rclcpp::Service<Softreset>::SharedPtr              softreset_service;
     rclcpp::Service<PrepareForShutdown>::SharedPtr     prepare_for_shutdown_service;
     rclcpp::Service<GripperInfo>::SharedPtr            info_service;
-    rclcpp::Service<ChangeIp>::SharedPtr               change_ip_service;
 };
 
 #endif