Merge branch 'master' into feature/realtime-barrier

.clang-format

@@ -0,0 +1,20 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
+IncludeBlocks: Preserve
+...

.github/workflows/README.md

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+## Build status
+
+ROS2 Distro | Branch | Build status | Documentation | Released packages
+:---------: | :----: | :----------: | :-----------: | :---------------:
+**Rolling** | [`rolling`](https://github.com/ros-controls/realtime_tools/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-testing.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-testing.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml?branch=master) |  | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
+**Humble** | [`humble`](https://github.com/ros-controls/realtime_tools/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-testing.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-testing.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml?branch=master) |  | [realtime_tools](https://index.ros.org/p/realtime_tools/#humble)
+
+
+### Explanation of different build types
+
+**NOTE**: There are three build stages checking current and future compatibility of the package.
+
+[Detailed build status](.github/workflows/README.md)
+
+1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
+
+   Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
+
+1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
+   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
+
+   Uses repos file: `$NAME$.repos`
+
+1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.

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

@@ -0,0 +1,48 @@
+name: Coverage Build
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  coverage:
+    name: coverage build
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: rolling
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          # build all packages listed in the meta package
+          package-name:
+            realtime_tools
+
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/realtime_tools-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/[email protected]
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/[email protected]
+        with:
+          name: colcon-logs-coverage-rolling
+          path: ros_ws/log

.github/workflows/ci-format.yml

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+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v2
+      with:
+        python-version: 3.9.7
+    - name: Install system hooks
+      run: sudo apt install -qq clang-format-12 cppcheck
+    - uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files --hook-stage manual

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

@@ -0,0 +1,57 @@
+name: ROS Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [copyright, lint_cmake]
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        package-name:
+          realtime_tools
+
+  ament_cpplint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cpplint]
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        distribution: rolling
+        linter: cpplint
+        arguments: "--linelength=100 --filter=-whitespace/newline"
+        package-name:
+          realtime_tools
+
+  ament_cppcheck:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck]
+    steps:
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        arguments: "--language=c++"
+        package-name:
+          realtime_tools

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

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+name: Humble - ABI Compatibility Check
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: humble
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true

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

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+name: Humble Binary Build - main
+# author: Denis Štogl <[email protected]>
+# 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: realtime_tools-not-released.humble.repos
+      ref_for_scheduled_build: master

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

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+name: Humble Binary Build - testing
+# author: Denis Štogl <[email protected]>
+# 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: realtime_tools-not-released.humble.repos
+      ref_for_scheduled_build: master

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

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+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: ghcr.io/ros-controls/ros:${{ env.ROS_DISTRO }}-rhel
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/realtime_tools
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/realtime_tools
+          source /opt/ros/${{ 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: realtime_tools.humble.repos
+      ref_for_scheduled_build: master

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

@@ -0,0 +1,25 @@
+name: Humble Semi-Binary Build - testing
+# 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: testing
+      upstream_workspace: realtime_tools.humble.repos
+      ref_for_scheduled_build: master

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

@@ -0,0 +1,19 @@
+name: Humble Source Build
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  push:
+    branches:
+      - 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: humble
+      ref: master
+      ros2_repo_branch: humble

.github/workflows/prerelease-check.yml

@@ -0,0 +1,39 @@
+name: Pre-Release Check
+
+on:
+  workflow_dispatch:
+    inputs:
+      ros_distro:
+        description: 'Chose ROS distribution'
+        required: true
+        default: 'rolling'
+        type: choice
+        options:
+        - foxy
+        - galactic
+        - humble
+        - rolling
+      branch:
+        description: 'Chose branch for distro'
+        required: true
+        default: 'master'
+        type: choice
+        options:
+        - foxy
+        - galactic
+        - humble
+        - master
+
+jobs:
+  pre_release:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.inputs.branch }}
+      - name: industrial_ci
+        uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: ${{ github.event.inputs.ros_distro }}
+          PRERELEASE: true
+          BASEDIR: ${{ github.workspace }}/.work