Use matrix strategy for main+testing and fix some issues

Author: christophfroehlich

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

@@ -5,7 +5,7 @@ on:
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
@@ -23,7 +23,7 @@ jobs:
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:

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

@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master

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

@@ -1,11 +1,9 @@
-name: Humble Binary Build - main
+name: Humble Binary Build
 # author: Denis Štogl <[email protected]>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -19,8 +17,11 @@ on:
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      matrix:
+        ROS_REPO: [main, testing]
     with:
       ros_distro: humble
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: kinematics_interface-not-released.humble.repos
       ref_for_scheduled_build: master

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

@@ -0,0 +1,30 @@
+name: Debian Humble Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '33 2 * * *'
+
+
+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/kinematics_interface
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/kinematics_interface/kinematics_interface.${{ env.ROS_DISTRO }}.repos
+          colcon build
+          colcon test
+          colcon test-result --verbose

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

@@ -1,18 +1,12 @@
-name: Humble RHEL Binary Build
+name: RHEL Humble 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 * * *'
-
+    - cron: '42 4 * * *'
 
 jobs:
   humble_rhel_binary:
@@ -25,9 +19,13 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/kinematics_interface
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/kinematics_interface
+          rosdep install -iyr --from-path src/kinematics_interface || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
           colcon build
           colcon test
+          colcon test-result --verbose

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

@@ -1,10 +1,8 @@
-name: Humble Semi-Binary Build - main
+name: Humble Semi-Binary Build
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -18,8 +16,11 @@ on:
 jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      matrix:
+        ROS_REPO: [main, testing]
     with:
       ros_distro: humble
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: kinematics_interface.humble.repos
       ref_for_scheduled_build: master

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

@@ -1,8 +1,6 @@
 name: Humble Source Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   push:
     branches:
       - master
@@ -16,4 +14,4 @@ jobs:
     with:
       ros_distro: humble
       ref: master
-      ros2_repo_branch: master-humble
+      ros2_repo_branch: humble

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

@@ -14,7 +14,7 @@ on:
         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, galactic, foxy.'
+        description: 'Branch in the ros2/ros2 repository from which ".repos" should be used.'
         default: 'master'
         required: false
         type: string

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

@@ -1,8 +1,6 @@
 name: Rolling - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master

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

@@ -1,11 +1,9 @@
-name: Rolling Binary Build - main
+name: Rolling Binary Build
 # author: Denis Štogl <[email protected]>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -19,8 +17,11 @@ on:
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      matrix:
+        ROS_REPO: [main, testing]
     with:
       ros_distro: rolling
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: kinematics_interface-not-released.rolling.repos
       ref_for_scheduled_build: master

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

@@ -0,0 +1,30 @@
+name: Debian Rolling Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '33 2 * * *'
+
+
+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/kinematics_interface
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/kinematics_interface/kinematics_interface.${{ env.ROS_DISTRO }}.repos
+          colcon build
+          colcon test
+          colcon test-result --verbose

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

@@ -1,17 +1,12 @@
-name: Rolling RHEL Binary Build
+name: RHEL Rolling 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 * * *'
+    - cron: '42 4 * * *'
 
 
 jobs:
@@ -20,14 +15,18 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: rolling
-    container: jaronl/ros:rolling-alma
+    container: ghcr.io/ros-controls/ros:rolling-rhel
     steps:
       - uses: actions/checkout@v4
         with:
           path: src/kinematics_interface
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/kinematics_interface
+          rosdep install -iyr --from-path src/kinematics_interface || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
           colcon build
           colcon test
+          colcon test-result --verbose