From 43573cd52a772e950344dbdd506b1584316dd9e3 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sat, 25 Nov 2023 17:37:15 +0100
Subject: [PATCH 1/4] ci/ros: add iron and humble

---
 .github/workflows/ros-ci.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 90a6864f6e..fbe7c14896 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -14,6 +14,8 @@ jobs:
         env:
           - {ROS_DISTRO: noetic}
           - {ROS_DISTRO: rolling, BUILDER: colcon}
+          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: humble}
     env:
       CCACHE_DIR: /github/home/.ccache             # Enable ccache
       # The following is a work-around for ROS tooling in conjunction with jrl-cmakemodules:

From e99bbf71349328bb2ec5372ebb45e3e2a03a62dc Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sun, 26 Nov 2023 00:24:47 +0100
Subject: [PATCH 2/4] ci/ros: update commit id

---
 .github/workflows/ros-ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index fbe7c14896..5cfaf424f8 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -40,5 +40,5 @@ jobs:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@9e8b4aaec69f7cade96eda5cfcb3e7da57b99c6e'
+      - uses: 'ros-industrial/industrial_ci@9f963f67ebb889792175776c5ee00134d7bb569b'
         env: ${{ matrix.env }}

From ef86a240b70f78aa8ecebbdd893815780f78b05c Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <wxmerkt@users.noreply.github.com>
Date: Tue, 28 Nov 2023 11:40:39 +0000
Subject: [PATCH 3/4] package.xml: Add ros_environment dependency

---
 package.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/package.xml b/package.xml
index 0c04ca395a..3b637a166e 100644
--- a/package.xml
+++ b/package.xml
@@ -15,6 +15,8 @@
   <build_depend>doxygen</build_depend>
   <doc_depend>doxygen</doc_depend>
   <doc_depend>texlive-latex-base</doc_depend>
+  <!-- Required for the environment variables to be available -->
+  <depend>ros_environment</depend>
   <!-- The following tags are recommended by REP-136 -->
   <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>

From 7b98fae7949ac9231b4ccea81fc89275a25f06fb Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <wxmerkt@users.noreply.github.com>
Date: Wed, 29 Nov 2023 14:57:45 +0000
Subject: [PATCH 4/4] [CI] Use colcon apart from noetic; remove Melodic
 conditional dependencies

---
 .github/workflows/ros-ci.yml | 7 +++----
 package.xml                  | 8 +++-----
 2 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 1c57a5c5ce..6e57d1abf0 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -12,13 +12,13 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: noetic}
-          - {ROS_DISTRO: rolling, BUILDER: colcon}
+          - {ROS_DISTRO: noetic, BUILDER: catkin_tools}
+          - {ROS_DISTRO: rolling}
           - {ROS_DISTRO: iron}
           - {ROS_DISTRO: humble}
     env:
       CCACHE_DIR: /github/home/.ccache             # Enable ccache
-      # The following is a work-around for ROS tooling in conjunction with jrl-cmakemodules:
+      # The following is a work-around for ROS1 tooling in conjunction with jrl-cmakemodules:
       #  - catkin_make_isolated has issues with Industrial-CI right now
       #  - colcon cannot find example-robot-data's python bindings due to ROS1 workspace integration hooks
       #  - catkin_tools correctly finds example-robot-data in the upstream_ws, but does not execute the 'run_tests' target
@@ -26,7 +26,6 @@ jobs:
       # The work-around is thus to use catkin_tools for building and sourcing, and to manually specify execution of the test
       # target after completion of the regular test target. The output of this step does affect the output of the CI process.
       # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws.
-      BUILDER: catkin_tools
       AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/pinocchio && make test'
       IMMEDIATE_TEST_OUTPUT: 1
     runs-on: ubuntu-latest
diff --git a/package.xml b/package.xml
index 3b637a166e..58397562d3 100644
--- a/package.xml
+++ b/package.xml
@@ -15,14 +15,12 @@
   <build_depend>doxygen</build_depend>
   <doc_depend>doxygen</doc_depend>
   <doc_depend>texlive-latex-base</doc_depend>
-  <!-- Required for the environment variables to be available -->
+  <!-- Required for the environment variables (ROS_VERSION, ROS_DISTRO) to be available -->
   <depend>ros_environment</depend>
   <!-- The following tags are recommended by REP-136 -->
   <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+  <depend>python3</depend>
+  <depend>python3-numpy</depend>
   <depend>liburdfdom-dev</depend>
   <depend>eigen</depend>
   <depend>boost</depend>