Calculate Jacobian Inverse #406

	name: Semi-Binary Build
	# description: 'Build & test that compiles the main dependencies from source.'

	on:
	workflow_dispatch:
	pull_request:
	branches:
	- master
	push:
	branches:
	- master
	schedule:
	# Run every morning to detect flakiness and broken dependencies
	- cron: '33 1 * * *'

	concurrency:
	# cancel previous runs of the same workflow, except for pushes on humble branch
	group: ${{ github.workflow }}-${{ github.ref }}
	cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}

	jobs:
	semi_binary:
	uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
	strategy:
	fail-fast: false
	matrix:
	ROS_DISTRO: [rolling, jazzy]
	ROS_REPO: [testing]
	with:
	ros_distro: ${{ matrix.ROS_DISTRO }}
	ros_repo: ${{ matrix.ROS_REPO }}
	upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
	ref_for_scheduled_build: master
	semi_binary_clang:
	uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
	with:
	# job for building only, no tests -> one distro is enough
	ros_distro: rolling
	ros_repo: testing
	upstream_workspace: kinematics_interface.rolling.repos
	ref_for_scheduled_build: master
	additional_debs: clang
	c_compiler: clang
	cxx_compiler: clang++
	not_test_build: true

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