Add ROS-O support and fix compatibility issues

[iory]

Summary

This PR adds support for testing ros1_bridge with ROS-O (ROS One) and fixes compatibility issues when testing with the noetic + rolling combination.

Changes

Copyright header

• Add Apache License 2.0 copyright header to controller_manager_msgs_controller_state_adapter.cpp
• This file was missing the required copyright header, causing linting tests to fail

pep257 compatibility fix

• Skip pep257 test on Ubuntu 20.04 (Focal) with ROS 2 Rolling
• The pep257 linter (ament_pep257 0.11.4) has a compatibility issue with Python 3.8
• Error encountered: ValueError: too many values to unpack (expected 3)
• This is a known issue with the API changes in ament_pep257

CI workflow updates

• Add ROS-O test configurations to CI workflow
• Update to use action-ros-ci with ROS-O support
• Add workflow_dispatch for manual testing
• Test ROS-O + Humble and ROS-O + Jazzy combinations

Build fixes

• Fix std::vector specialization issues
• Fix ControllerState message mapping between ROS 1 and ROS 2

Related PRs

This PR is part of a series to add ROS-O support to the ROS tooling ecosystem:

1. setup-ros: Add ROS-O repository and installation support

   • https://github.com/ros-tooling/setup-ros/pull/854

2. action-ros-ci: Add ROS-O distribution recognition

   • https://github.com/ros-tooling/action-ros-ci/pull/1008

3. ros1_bridge (this PR): Enable testing with ROS-O and fix compatibility issues

Together, these PRs enable:

• Installing ROS-O via setup-ros
• Building and testing ROS-O packages via action-ros-ci
• Testing ros1_bridge with ROS-O + ROS 2 combinations

Testing

With these changes, the CI successfully tests:

• ROS-O + Humble on Ubuntu 22.04
• ROS-O + Jazzy on Ubuntu 24.04
• Noetic + Rolling on Ubuntu 20.04 (with pep257 skipped)

All tests pass successfully with these combinations.

Technical details

The pep257 skip is necessary because:

• Ubuntu 20.04 uses Python 3.8
• ROS 2 Rolling includes ament_pep257 0.11.4
• This version has API changes incompatible with Python 3.8
• Newer Ubuntu versions (22.04+, 24.04) use Python 3.10+ and work correctly

Breaking changes

None. These are additive changes that:

• Add missing copyright header (fixes linting)
• Skip one problematic test on a specific platform combination
• Add new test configurations for ROS-O
• Fix build issues for better compatibility
• All other tests pass successfully

Signed-off-by: Iori Yanokura [email protected]