Update and fix CI setup

.github/workflows/README.md

@@ -0,0 +1,7 @@
+
+ROS2 Distro | Branch | Build status | Documentation | Released packages
+:---------: | :----: | :----------: | :-----------: | :---------------:
+**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)
+**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)
+**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)
+**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

@@ -1,23 +1,26 @@
 name: Coverage Build
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
 
 jobs:
   coverage:
     name: coverage build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/setup-ros@v0.2
+      - uses: ros-tooling/setup-ros@0.3.4
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v3
-      - uses: ros-tooling/action-ros-ci@v0.2
+      - uses: ros-tooling/action-ros-ci@0.2.6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -31,6 +34,7 @@ jobs:
             ros2_control
             ros2_control_test_assets
             transmission_interface
+
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-defaults: |
@@ -40,13 +44,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-          skip-tests: true
-      - uses: codecov/codecov-action@v1.0.14
+      - uses: codecov/codecov-action@v3.1.0
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v1
+      - uses: actions/upload-artifact@v3.1.0
         with:
-          name: colcon-logs-${{ matrix.os }}
+          name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log

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

@@ -9,13 +9,13 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          linter: [copyright, cppcheck, lint_cmake]
+          linter: [cppcheck, copyright, lint_cmake]
     steps:
     - uses: actions/checkout@v3
     - uses: ros-tooling/setup-ros@v0.2
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
-        distribution: galactic
+        distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
           controller_interface
@@ -27,19 +27,21 @@ jobs:
           ros2_control_test_assets
           transmission_interface
 
-  ament_lint_cpplint:
-    name: ament_lint_cpplint
+  ament_lint_100:
+    name: ament_${{ matrix.linter }}
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
+      matrix:
+          linter: [cpplint]
     steps:
     - uses: actions/checkout@v3
     - uses: ros-tooling/setup-ros@v0.2
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
-        distribution: galactic
+        distribution: rolling
         linter: cpplint
-        arguments: "--filter=-whitespace/newline"
+        arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
           controller_interface
           controller_manager

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

@@ -1,5 +1,8 @@
-name: ABI Compatibility Check
+name: Foxy - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy

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

@@ -1,8 +1,11 @@
-name: Foxy Binary Build
+name: Foxy Binary Build - main
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
@@ -18,5 +21,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: foxy
+      ros_repo: main
       upstream_workspace: ros2_control-not-released.foxy.repos
       ref_for_scheduled_build: foxy

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

@@ -1,7 +1,10 @@
-name: Foxy Semi-Binary Build
+name: Foxy Semi-Binary Build - main
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
@@ -17,5 +20,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: foxy
+      ros_repo: main
       upstream_workspace: ros2_control.foxy.repos
       ref_for_scheduled_build: foxy

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

@@ -1,5 +1,8 @@
-name: ABI Compatibility Check
+name: Galactic - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - galactic
   pull_request:
     branches:
       - galactic

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

@@ -1,8 +1,11 @@
-name: Galactic Binary Build
+name: Galactic Binary Build - main
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - galactic
   pull_request:
     branches:
       - galactic
@@ -18,5 +21,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: galactic
+      ros_repo: main
       upstream_workspace: ros2_control-not-released.galactic.repos
       ref_for_scheduled_build: galactic

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

@@ -0,0 +1,33 @@
+name: Galactic RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - galactic
+  pull_request:
+    branches:
+      - galactic
+  push:
+    branches:
+      - galactic
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  galactic_rhel_binary:
+    name: Galactic RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: galactic
+    container: jaronl/ros:galactic-alma
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/ros2_control
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_control
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test

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

@@ -1,8 +1,8 @@
-name: Galactic Semi-Binary Build
+name: Galactic Semi-Binary Build - main
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
-  pull_request:
+  workflow_dispatch:
     branches:
       - galactic
   push:
@@ -17,5 +17,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: galactic
+      ros_repo: main
       upstream_workspace: ros2_control.galactic.repos
       ref_for_scheduled_build: galactic

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

@@ -1,5 +1,8 @@
-name: ABI Compatibility Check - Last Focal
+name: Humble - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -11,11 +14,7 @@ jobs:
       - uses: actions/checkout@v3
       - uses: ros-industrial/industrial_ci@master
         env:
-          ROS_DISTRO: rolling
+          ROS_DISTRO: humble
           ROS_REPO: main
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
-          OS_CODE_NAME: focal
-          BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: |
-            export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2022-01-28/index-v4.yaml
-            rosdep update

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

@@ -0,0 +1,26 @@
+name: Humble Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  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: humble
+      ros_repo: main
+      upstream_workspace: ros2_control-not-released.humble.repos
+      ref_for_scheduled_build: master

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

@@ -0,0 +1,26 @@
+name: Humble Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  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: humble
+      ros_repo: testing
+      upstream_workspace: ros2_control-not-released.humble.repos
+      ref_for_scheduled_build: master

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

@@ -0,0 +1,33 @@
+name: Humble RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - master
+#  pull_request:
+#    branches:
+#      - master
+#  push:
+#    branches:
+#      - master
+#  schedule:
+#    # Run every day to detect flakiness and broken dependencies
+#    - cron: '03 1 * * *'
+
+
+jobs:
+  humble_rhel_binary:
+    name: Humble RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: humble
+    container: jaronl/ros:humble-alma
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/ros2_control
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_control
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test

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

@@ -0,0 +1,25 @@
+name: Humble Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  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: humble
+      ros_repo: main
+      upstream_workspace: ros2_control.humble.repos
+      ref_for_scheduled_build: master