Update CI configuration and setup. Add better overview (#681)

.github/workflows/source.yml → .github/workflows/ci-coverage-build.yml

@@ -1,23 +1,26 @@
-name: Build & Test ros2_control with source-based setup
+name: Coverage Build
 on:
-  push:
+  pull_request:
     branches:
       - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '17 8 * * *'
 
 jobs:
-  ci_source:
-    name: Galactic source job
+  coverage:
+    name: coverage build
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
+    env:
+      ROS_DISTRO: rolling
     steps:
       - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+      - uses: actions/checkout@v3
       - uses: ros-tooling/[email protected]
         with:
-          target-ros2-distro: galactic
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
           # build all packages listed in the meta package
           package-name:
             controller_interface
@@ -27,17 +30,18 @@ jobs:
             ros2controlcli
             ros2_control
             ros2_control_test_assets
+            transmission_interface
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/galactic/ros2.repos
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control/ros2_control.repos
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-defaults: |
             {
               "build": {
                 "mixin": ["coverage-gcc"]
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v1
+          skip-tests: true
+      - uses: codecov/[email protected]
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests

.github/workflows/format.yml → .github/workflows/ci-format.yml

@@ -6,21 +6,18 @@ name: Format
 on:
   workflow_dispatch:
   pull_request:
-  push:
-    branches:
-      - master
 
 jobs:
   pre-commit:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - uses: actions/setup-python@v2
       with:
         python-version: 3.9.7
-    - name: Install clang-format-10
-      run: sudo apt-get install clang-format-10 cppcheck
+    - name: Install system hooks
+      run: sudo apt install -qq clang-format-11 cppcheck
     - uses: pre-commit/[email protected]
       with:
         extra_args: --all-files --hook-stage manual

.github/workflows/lint.yml → .github/workflows/ci-ros-lint.yml

@@ -11,7 +11,7 @@ jobs:
       matrix:
           linter: [copyright, cppcheck, lint_cmake]
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v3
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:
@@ -33,7 +33,7 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v3
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:

.github/workflows/foxy-abi-compatibility.yml

@@ -0,0 +1,17 @@
+name: ABI Compatibility Check
+on:
+  pull_request:
+    branches:
+      - foxy
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: foxy
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true

.github/workflows/foxy-binary-build.yml

@@ -0,0 +1,22 @@
+name: Foxy Binary Build
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: foxy
+      upstream_workspace: ros2_control-not-released.foxy.repos
+      ref_for_scheduled_build: foxy

.github/workflows/foxy-semi-binary-build.yml

@@ -0,0 +1,21 @@
+name: Foxy Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: foxy
+      upstream_workspace: ros2_control.foxy.repos
+      ref_for_scheduled_build: foxy

.github/workflows/foxy-source-build.yml

@@ -0,0 +1,15 @@
+name: Foxy Source Build
+on:
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: foxy
+      ref: foxy

.github/workflows/galactic-abi-compatibility.yml

@@ -0,0 +1,17 @@
+name: ABI Compatibility Check
+on:
+  pull_request:
+    branches:
+      - galactic
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: galactic
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true

.github/workflows/galactic-binary-build.yml

@@ -0,0 +1,22 @@
+name: Galactic Binary Build
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  pull_request:
+    branches:
+      - galactic
+  push:
+    branches:
+      - galactic
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: galactic
+      upstream_workspace: ros2_control-not-released.galactic.repos
+      ref_for_scheduled_build: galactic

.github/workflows/galactic-semi-binary-build.yml

@@ -0,0 +1,21 @@
+name: Galactic Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  pull_request:
+    branches:
+      - galactic
+  push:
+    branches:
+      - galactic
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: galactic
+      upstream_workspace: ros2_control.galactic.repos
+      ref_for_scheduled_build: galactic

.github/workflows/galactic-source-build.yml

@@ -0,0 +1,15 @@
+name: Galactic Source Build
+on:
+  push:
+    branches:
+      - galactic
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: galactic
+      ref: galactic

.github/workflows/prerelease-check.yml

@@ -0,0 +1,39 @@
+name: Pre-Release Check
+
+on:
+  workflow_dispatch:
+    inputs:
+      ros_distro:
+        description: 'Chose ROS distribution'
+        required: true
+        default: 'rolling'
+        type: choice
+        options:
+        - foxy
+        - galactic
+        - humble
+        - rolling
+      branch:
+        description: 'Chose branch for distro'
+        required: true
+        default: 'master'
+        type: choice
+        options:
+        - foxy
+        - galactic
+        - humble
+        - master
+
+jobs:
+  pre_release:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.inputs.branch }}
+      - name: industrial_ci
+        uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: ${{ github.event.inputs.ros_distro }}
+          PRERELEASE: true
+          BASEDIR: ${{ github.workspace }}/.work