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Update and fix CI setup (#752)
* Add names to ABI compatibility workflows. * Don't use source build on the old distros. * Disable rhel build on PRs since it will failanyway. * We need common linters in packages that generate messages since those auto automatically used. * remove disabling of tests.
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‎.github/workflows/README.md

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ROS2 Distro | Branch | Build status | Documentation | Released packages
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:---------: | :----: | :----------: | :-----------: | :---------------:
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**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_control/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-testing.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-testing.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
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**Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-testing.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-testing.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
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**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-main.yml?branch=galactic) <br /> [![Galactic Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-testing.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-main.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-testing.yml?branch=galactic) | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#galactic)
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**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-main.yml?branch=foxy) <br /> [![Foxy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-testing.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-main.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-testing.yml?branch=foxy) | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#foxy)

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

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name: Coverage Build
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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jobs:
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coverage:
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name: coverage build
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runs-on: ubuntu-20.04
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runs-on: ubuntu-22.04
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strategy:
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fail-fast: false
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env:
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ROS_DISTRO: rolling
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steps:
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- uses: ros-tooling/setup-ros@v0.2
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- uses: ros-tooling/setup-ros@0.3.4
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with:
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required-ros-distributions: ${{ env.ROS_DISTRO }}
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- uses: actions/checkout@v3
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- uses: ros-tooling/action-ros-ci@v0.2
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- uses: ros-tooling/action-ros-ci@0.2.6
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with:
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target-ros2-distro: ${{ env.ROS_DISTRO }}
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import-token: ${{ secrets.GITHUB_TOKEN }}
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ros2_control
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ros2_control_test_assets
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transmission_interface
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
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colcon-defaults: |
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}
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}
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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skip-tests: true
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- uses: codecov/codecov-action@v1.0.14
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- uses: codecov/codecov-action@v3.1.0
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with:
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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- uses: actions/upload-artifact@v1
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- uses: actions/upload-artifact@v3.1.0
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with:
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name: colcon-logs-${{ matrix.os }}
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name: colcon-logs-ubuntu-22.04-coverage-rolling
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path: ros_ws/log

‎.github/workflows/ci-ros-lint.yml

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strategy:
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fail-fast: false
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matrix:
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linter: [copyright, cppcheck, lint_cmake]
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linter: [cppcheck, copyright, lint_cmake]
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steps:
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- uses: actions/checkout@v3
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- uses: ros-tooling/setup-ros@v0.2
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- uses: ros-tooling/action-ros-lint@v0.1
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with:
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distribution: galactic
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distribution: rolling
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linter: ${{ matrix.linter }}
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package-name:
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controller_interface
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ros2_control_test_assets
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transmission_interface
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ament_lint_cpplint:
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name: ament_lint_cpplint
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ament_lint_100:
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name: ament_${{ matrix.linter }}
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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matrix:
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linter: [cpplint]
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steps:
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- uses: actions/checkout@v3
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- uses: ros-tooling/setup-ros@v0.2
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- uses: ros-tooling/action-ros-lint@v0.1
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with:
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distribution: galactic
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distribution: rolling
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linter: cpplint
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arguments: "--filter=-whitespace/newline"
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arguments: "--linelength=100 --filter=-whitespace/newline"
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package-name:
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controller_interface
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controller_manager

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

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name: ABI Compatibility Check
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name: Foxy - ABI Compatibility Check
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on:
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workflow_dispatch:
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branches:
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- foxy
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pull_request:
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branches:
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- foxy

‎.github/workflows/foxy-binary-build.yml renamed to ‎.github/workflows/foxy-binary-build-main.yml

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name: Foxy Binary Build
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name: Foxy Binary Build - main
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# author: Denis Štogl <denis@stoglrobotics.de>
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# description: 'Build & test all dependencies from released (binary) packages.'
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on:
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workflow_dispatch:
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branches:
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- foxy
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branches:
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- foxy
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: foxy
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ros_repo: main
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upstream_workspace: ros2_control-not-released.foxy.repos
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ref_for_scheduled_build: foxy

‎.github/workflows/foxy-semi-binary-build.yml renamed to ‎.github/workflows/foxy-semi-binary-build-main.yml

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name: Foxy Semi-Binary Build
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name: Foxy Semi-Binary Build - main
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# description: 'Build & test that compiles the main dependencies from source.'
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on:
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branches:
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- foxy
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- foxy
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: foxy
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ros_repo: main
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upstream_workspace: ros2_control.foxy.repos
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ref_for_scheduled_build: foxy

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

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This file was deleted.

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

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name: ABI Compatibility Check
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name: Galactic - ABI Compatibility Check
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on:
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workflow_dispatch:
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branches:
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- galactic
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pull_request:
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branches:
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- galactic

‎.github/workflows/galactic-binary-build.yml renamed to ‎.github/workflows/galactic-binary-build-main.yml

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name: Galactic Binary Build
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name: Galactic Binary Build - main
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# author: Denis Štogl <denis@stoglrobotics.de>
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# description: 'Build & test all dependencies from released (binary) packages.'
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on:
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workflow_dispatch:
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branches:
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- galactic
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branches:
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- galactic
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: galactic
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ros_repo: main
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upstream_workspace: ros2_control-not-released.galactic.repos
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ref_for_scheduled_build: galactic

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

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name: Galactic RHEL Binary Build
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on:
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workflow_dispatch:
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branches:
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- galactic
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pull_request:
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branches:
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- galactic
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push:
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branches:
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- galactic
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schedule:
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# Run every day to detect flakiness and broken dependencies
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- cron: '03 1 * * *'
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jobs:
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galactic_rhel_binary:
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name: Galactic RHEL binary build
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runs-on: ubuntu-latest
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env:
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ROS_DISTRO: galactic
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container: jaronl/ros:galactic-alma
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steps:
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- uses: actions/checkout@v3
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with:
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path: src/ros2_control
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- run: |
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rosdep update
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rosdep install -iy --from-path src/ros2_control
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source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
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colcon build
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colcon test

‎.github/workflows/galactic-semi-binary-build.yml renamed to ‎.github/workflows/galactic-semi-binary-build-main.yml

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name: Galactic Semi-Binary Build
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name: Galactic Semi-Binary Build - main
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# description: 'Build & test that compiles the main dependencies from source.'
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workflow_dispatch:
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- galactic
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push:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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ros_repo: main
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upstream_workspace: ros2_control.galactic.repos
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ref_for_scheduled_build: galactic

‎.github/workflows/rolling-abi-compatibility-last-focal.yml renamed to ‎.github/workflows/humble-abi-compatibility.yml

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name: ABI Compatibility Check - Last Focal
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name: Humble - ABI Compatibility Check
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on:
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workflow_dispatch:
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branches:
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- master
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branches:
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- master
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- uses: actions/checkout@v3
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- uses: ros-industrial/industrial_ci@master
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env:
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ROS_DISTRO: rolling
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ROS_DISTRO: humble
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ROS_REPO: main
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ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
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NOT_TEST_BUILD: true
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OS_CODE_NAME: focal
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BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: |
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export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2022-01-28/index-v4.yaml
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rosdep update

‎.github/workflows/humble-binary-build-main.yml

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name: Humble Binary Build - main
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# author: Denis Štogl <denis@stoglrobotics.de>
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# description: 'Build & test all dependencies from released (binary) packages.'
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '03 1 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: humble
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ros_repo: main
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upstream_workspace: ros2_control-not-released.humble.repos
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ref_for_scheduled_build: master

‎.github/workflows/humble-binary-build-testing.yml

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name: Humble Binary Build - testing
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# author: Denis Štogl <denis@stoglrobotics.de>
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# description: 'Build & test all dependencies from released (binary) packages.'
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '03 1 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: humble
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ros_repo: testing
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upstream_workspace: ros2_control-not-released.humble.repos
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ref_for_scheduled_build: master

‎.github/workflows/humble-rhel-binary-build.yml

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name: Humble RHEL Binary Build
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on:
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workflow_dispatch:
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branches:
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- master
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# pull_request:
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# branches:
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# - master
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# push:
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# branches:
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# - master
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# schedule:
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# # Run every day to detect flakiness and broken dependencies
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# - cron: '03 1 * * *'
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jobs:
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humble_rhel_binary:
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name: Humble RHEL binary build
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runs-on: ubuntu-latest
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env:
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ROS_DISTRO: humble
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container: jaronl/ros:humble-alma
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steps:
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- uses: actions/checkout@v3
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with:
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path: src/ros2_control
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- run: |
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rosdep update
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rosdep install -iy --from-path src/ros2_control
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source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
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colcon build
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colcon test

‎.github/workflows/humble-semi-binary-build-main.yml

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

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