Fix binary and source builds

.github/workflows/build-iron.yml

@@ -0,0 +1,55 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Build iron
+on:
+  pull_request:
+  push:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: iron, ROS_REPO: main}
+          - {ROS_DISTRO: iron, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    steps:
+      - uses: actions/checkout@v4
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws

.github/workflows/build-source_humble.yml

@@ -1,30 +1,17 @@
-name: Build Source humble
+name: Rolling Source Build
 on:
+  workflow_dispatch:
   push:
     branches:
       - ros2-master
   schedule:
     # Run every day to detect flakiness and broken dependencies
-    - cron: '28 3 * * *'
+    - cron: '03 3 * * *'
 
 jobs:
   source:
-    name: source build
-    runs-on: ubuntu-20.04
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: ros-tooling/[email protected]
-      - uses: ros-tooling/[email protected]
-        with:
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.repos
-            https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
-          package-name: control_toolbox
-          colcon-mixin-name: coverage-gcc
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-          target-ros2-distro: humble
-      - uses: actions/upload-artifact@v3
-        with:
-          name: colcon-logs-${{ matrix.os }}
-          path: ros_ws/log
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: humble
+      ref: ros2-master
+      ros2_repo_branch: humble

.github/workflows/build-source_iron.yml

@@ -0,0 +1,17 @@
+name: Rolling Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - ros2-master
+  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: iron
+      ref: ros2-master
+      ros2_repo_branch: iron

.github/workflows/build-source_rollling.yml

@@ -0,0 +1,17 @@
+name: Rolling Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - ros2-master
+  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: rolling
+      ref: master
+      ros2_repo_branch: rolling

.github/workflows/reusable-ros-tooling-source-build.yml

@@ -0,0 +1,50 @@
+name: Reusable industrial_ci Workflow with Cache
+# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
+# author: Denis Štogl <[email protected]>
+
+on:
+  workflow_call:
+    inputs:
+      ros_distro:
+        description: 'ROS2 distribution name'
+        required: true
+        type: string
+      ref:
+        description: 'Reference on which the repo should be checkout. Usually is this name of a branch or a tag.'
+        required: true
+        type: string
+      ros2_repo_branch:
+        description: 'Branch in the ros2/ros2 repozitory from which ".repos" should be used. Possible values: master (Rolling), humble.'
+        default: 'master'
+        required: false
+        type: string
+
+jobs:
+  reusable_ros_tooling_source_build:
+    name: ${{ inputs.ros_distro }} ubuntu-22.04
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ inputs.ros_distro }}
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.ref }}
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: ${{ inputs.ros_distro }}
+          ref: ${{ inputs.ref }}
+          # build all packages listed in the meta package
+          package-name:
+            control_toolbox
+
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: actions/[email protected]
+        with:
+          name: colcon-logs-ubuntu-22.04
+          path: ros_ws/log

control_toolbox.repos → control_toolbox.humble.repos

@@ -2,7 +2,7 @@ repositories:
   control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
-    version: foxy-devel
+    version: humble
   realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools

control_toolbox.iron.repos

@@ -0,0 +1,9 @@
+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools
+    version: master

control_toolbox.rolling.repos

@@ -0,0 +1,9 @@
+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools
+    version: master