From 233634d054f85f1499431abfa63ca7897ce974a9 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Sat, 17 Feb 2024 20:14:04 +0000
Subject: [PATCH] [CI] Use reusable wfs from ros2_control_ci and use matrix
 strategy (backport #1040) (#1045)

---
 ...build-main.yml => humble-binary-build.yml} |  9 +++--
 .github/workflows/humble-debian-build.yml     | 22 ++++--------
 .../workflows/humble-rhel-binary-build.yml    | 32 -----------------
 .../humble-rhel-semi-binary-build.yml         | 19 +++++++++++
 ...sting.yml => humble-semi-binary-build.yml} |  9 +++--
 .github/workflows/humble-source-build.yml     |  2 +-
 .github/workflows/iron-binary-build.yml       | 29 ++++++++++++++++
 .github/workflows/iron-debian-build.yml       | 22 ++++--------
 .../workflows/iron-rhel-semi-binary-build.yml | 20 +++++++++++
 .github/workflows/iron-semi-binary-build.yml  | 28 +++++++++++++++
 .github/workflows/iron-source-build.yml       | 17 ++++++++++
 ...uild-main.yml => rolling-binary-build.yml} |  9 +++--
 .github/workflows/rolling-debian-build.yml    | 22 ++++--------
 .../workflows/rolling-rhel-binary-build.yml   | 34 -------------------
 .../rolling-rhel-semi-binary-build.yml        | 19 +++++++++++
 ...main.yml => rolling-semi-binary-build.yml} |  9 +++--
 .github/workflows/rolling-source-build.yml    |  4 +--
 17 files changed, 176 insertions(+), 130 deletions(-)
 rename .github/workflows/{humble-binary-build-main.yml => humble-binary-build.yml} (69%)
 delete mode 100644 .github/workflows/humble-rhel-binary-build.yml
 create mode 100644 .github/workflows/humble-rhel-semi-binary-build.yml
 rename .github/workflows/{humble-semi-binary-build-testing.yml => humble-semi-binary-build.yml} (66%)
 create mode 100644 .github/workflows/iron-binary-build.yml
 create mode 100644 .github/workflows/iron-rhel-semi-binary-build.yml
 create mode 100644 .github/workflows/iron-semi-binary-build.yml
 create mode 100644 .github/workflows/iron-source-build.yml
 rename .github/workflows/{rolling-binary-build-main.yml => rolling-binary-build.yml} (72%)
 delete mode 100644 .github/workflows/rolling-rhel-binary-build.yml
 create mode 100644 .github/workflows/rolling-rhel-semi-binary-build.yml
 rename .github/workflows/{rolling-semi-binary-build-main.yml => rolling-semi-binary-build.yml} (70%)

diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build.yml
similarity index 69%
rename from .github/workflows/humble-binary-build-main.yml
rename to .github/workflows/humble-binary-build.yml
index 401b2a98d2..2b3d2f577f 100644
--- a/.github/workflows/humble-binary-build-main.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -1,4 +1,4 @@
-name: Humble Binary Build - main
+name: Humble Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # 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: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers-not-released.humble.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index e8deb2caa5..3a06c3fc37 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -12,19 +12,9 @@ on:
 jobs:
   humble_debian:
     name: Humble debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ 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
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
deleted file mode 100644
index efb1aa7d9e..0000000000
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ /dev/null
@@ -1,32 +0,0 @@
-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
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Install dependencies
-        run: |
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build and test
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
-          colcon build --packages-skip rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_joint_trajectory_controller
-          colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
new file mode 100644
index 0000000000..1d1fe0522f
--- /dev/null
+++ b/.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
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build.yml
similarity index 66%
rename from .github/workflows/humble-semi-binary-build-testing.yml
rename to .github/workflows/humble-semi-binary-build.yml
index ef290ce065..05f614cabf 100644
--- a/.github/workflows/humble-semi-binary-build-testing.yml
+++ b/.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
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 801cd92402..8ac4a81824 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.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
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
new file mode 100644
index 0000000000..146d5a8c69
--- /dev/null
+++ b/.github/workflows/iron-binary-build.yml
@@ -0,0 +1,29 @@
+name: Iron Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# 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: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers-not-released.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index 09dbd051b2..f3419c1a31 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -12,19 +12,9 @@ on:
 jobs:
   iron_debian:
     name: Iron debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-    container: ghcr.io/ros-controls/ros:iron-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ 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
diff --git a/.github/workflows/iron-rhel-semi-binary-build.yml b/.github/workflows/iron-rhel-semi-binary-build.yml
new file mode 100644
index 0000000000..66ad427a98
--- /dev/null
+++ b/.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
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
new file mode 100644
index 0000000000..ab508dfc50
--- /dev/null
+++ b/.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
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
new file mode 100644
index 0000000000..3609dcfc41
--- /dev/null
+++ b/.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
diff --git a/.github/workflows/rolling-binary-build-main.yml b/.github/workflows/rolling-binary-build.yml
similarity index 72%
rename from .github/workflows/rolling-binary-build-main.yml
rename to .github/workflows/rolling-binary-build.yml
index 793db5d7e5..7b5a3bda65 100644
--- a/.github/workflows/rolling-binary-build-main.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -1,4 +1,4 @@
-name: Rolling Binary Build - main
+name: Rolling Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # 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: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers-not-released.rolling.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index b6d0a4193a..a1aed8b415 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -12,19 +12,9 @@ on:
 jobs:
   rolling_debian:
     name: Rolling debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: ghcr.io/ros-controls/ros:rolling-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ 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
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
deleted file mode 100644
index dece43b673..0000000000
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ /dev/null
@@ -1,34 +0,0 @@
-name: RHEL Rolling 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_binary:
-    name: Rolling RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: ghcr.io/ros-controls/ros:rolling-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - name: Install dependencies
-        run: |
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build and test
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
-          colcon build --packages-skip rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_joint_trajectory_controller
-          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
new file mode 100644
index 0000000000..a175d951b4
--- /dev/null
+++ b/.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
diff --git a/.github/workflows/rolling-semi-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build.yml
similarity index 70%
rename from .github/workflows/rolling-semi-binary-build-main.yml
rename to .github/workflows/rolling-semi-binary-build.yml
index 8b395e5163..a20c4d4fd3 100644
--- a/.github/workflows/rolling-semi-binary-build-main.yml
+++ b/.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
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 40abcd1b0c..567b2c8ec6 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.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