[CI] Use reusable wfs from ros2_control_ci and use matrix strategy (b…

…ackport #1040) (#1045)

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

@@ -1,4 +1,4 @@
-name: Humble Binary Build - main
+name: Humble Binary Build
 # author: Denis Štogl <[email protected]>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -18,9 +18,12 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_REPO: [main, testing]
     with:
       ros_distro: humble
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers-not-released.humble.repos
       ref_for_scheduled_build: humble

.github/workflows/humble-debian-build.yml

@@ -12,19 +12,9 @@ on:
 jobs:
   humble_debian:
     name: Humble debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
-          colcon test-result --verbose
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_joint_trajectory_controller

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

@@ -0,0 +1,19 @@
+name: RHEL Humble Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 2 * * *'
+
+jobs:
+  humble_rhel_binary:
+    name: Humble RHEL binary build
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_joint_trajectory_controller

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

@@ -1,4 +1,4 @@
-name: Humble Semi-Binary Build - testing
+name: Humble Semi-Binary Build
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
@@ -17,9 +17,12 @@ on:
 
 jobs:
   semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_REPO: [main, testing]
     with:
       ros_distro: humble
-      ros_repo: testing
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers.humble.repos
       ref_for_scheduled_build: humble

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

@@ -12,7 +12,7 @@ on:
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
     with:
       ros_distro: humble
       ref: humble

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

@@ -0,0 +1,29 @@
+name: Iron Binary Build
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: iron
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers-not-released.iron.repos
+      ref_for_scheduled_build: iron

.github/workflows/iron-debian-build.yml

@@ -12,19 +12,9 @@ on:
 jobs:
   iron_debian:
     name: Iron debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-    container: ghcr.io/ros-controls/ros:iron-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
-          colcon test-result --verbose
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_joint_trajectory_controller

.github/workflows/iron-rhel-semi-binary-build.yml

@@ -0,0 +1,20 @@
+name: RHEL Iron Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_rhel_binary:
+    name: Iron RHEL binary build
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_joint_trajectory_controller

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

@@ -0,0 +1,28 @@
+name: Iron Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: iron
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron

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

@@ -0,0 +1,17 @@
+name: Iron Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
+    with:
+      ros_distro: iron
+      ref: iron
+      ros2_repo_branch: iron

.github/workflows/rolling-binary-build-main.yml → .github/workflows/rolling-binary-build.yml

@@ -1,4 +1,4 @@
-name: Rolling Binary Build - main
+name: Rolling Binary Build
 # author: Denis Štogl <[email protected]>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -22,9 +22,12 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_REPO: [main, testing]
     with:
       ros_distro: rolling
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers-not-released.rolling.repos
       ref_for_scheduled_build: master

.github/workflows/rolling-debian-build.yml

@@ -12,19 +12,9 @@ on:
 jobs:
   rolling_debian:
     name: Rolling debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: ghcr.io/ros-controls/ros:rolling-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
-          colcon test-result --verbose
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: rolling
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller

.github/workflows/rolling-rhel-semi-binary-build.yml

@@ -0,0 +1,19 @@
+name: RHEL Rolling Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  rolling_rhel:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: rolling
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller

.github/workflows/rolling-semi-binary-build-main.yml → .github/workflows/rolling-semi-binary-build.yml

@@ -1,4 +1,4 @@
-name: Rolling Semi-Binary Build - main
+name: Rolling Semi-Binary Build
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
@@ -21,9 +21,12 @@ on:
 
 jobs:
   semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_REPO: [main, testing]
     with:
       ros_distro: rolling
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers.rolling.repos
       ref_for_scheduled_build: master

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

@@ -1,8 +1,6 @@
 name: Rolling Source Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   push:
     branches:
       - master
@@ -12,7 +10,7 @@ on:
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
     with:
       ros_distro: rolling
       ref: master