From a8302c33a3a3834a5adcaf1a3a492a652b7fce7c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 9 Feb 2024 13:16:55 +0000
Subject: [PATCH 1/8] Make source build reusable wf independent of repository

---
 .../reusable-industrial-ci-with-cache.yml     |  5 ++++
 .../reusable-ros-tooling-source-build.yml     | 27 ++++++++++---------
 2 files changed, 19 insertions(+), 13 deletions(-)

diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
index acefeebfac..a5e54a8fe5 100644
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -55,14 +55,19 @@ jobs:
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
       CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
+      # this will be src/{repo-owner}/{repo-name}
+      path: src/${{ github.repository }}
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
         uses: actions/checkout@v4
+        with:
+          path: ${{ env.path }}
       - name: Checkout ${{ inputs.ref }} on scheduled build
         if: ${{ github.event_name == 'schedule' }}
         uses: actions/checkout@v4
         with:
+          path: ${{ env.path }}
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
         if: ${{ ! matrix.env.CCOV }}
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
index fa96b7288c..dee65152e8 100644
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -14,7 +14,7 @@ on:
         required: true
         type: string
       ros2_repo_branch:
-        description: 'Branch in the ros2/ros2 repository from which ".repos" should be used. Possible values: master (Rolling), humble.'
+        description: 'Branch in the ros2/ros2 repository from which ".repos" should be used.'
         default: 'master'
         required: false
         type: string
@@ -23,6 +23,9 @@ jobs:
   reusable_ros_tooling_source_build:
     name: ${{ inputs.ros_distro }} ubuntu-22.04
     runs-on: ubuntu-22.04
+    env:
+      # this will be src/{repo-owner}/{repo-name}
+      path: src/${{ github.repository }}
     strategy:
       fail-fast: false
     steps:
@@ -32,23 +35,21 @@ jobs:
       - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
+          path: ${{ env.path }}
+      - name: Get list of packages
+        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
+        run: |
+          echo "REPO_NAME=$(echo ${{ github.repository }} | cut -d '/' -f 2)" >> $GITHUB_ENV
+          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only) $(colcon list --paths ${{ env.path }}/* --names-only)" >> $GITHUB_ENV
+          echo "repo ${{ env.REPO_NAME}} has packages: ${{ env.package_list }}"
       - uses: ros-tooling/action-ros-ci@0.3.6
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
-          # build all packages listed in the meta package
-          ref: ${{ inputs.ref }} # otherwise the default branch is used for scheduled workflows
-          package-name:
-            controller_interface
-            controller_manager
-            controller_manager_msgs
-            hardware_interface
-            ros2controlcli
-            ros2_control
-            ros2_control_test_assets
-            transmission_interface
+          ref: ${{ inputs.ref }}
+          package-name: ${{ env.package_list }}
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+            ${{ env.path }}/${{ env.REPO_NAME}}.${{ inputs.ros_distro }}.repos
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
       - uses: actions/upload-artifact@v4.3.0
         with:

From 316524f303a2030760407787ee0b92ef32449daf Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 9 Feb 2024 13:16:55 +0000
Subject: [PATCH 2/8] Use reusable wfs for debian and RHEL

---
 .github/workflows/humble-debian-build.yml     | 39 +++------
 .../workflows/humble-rhel-binary-build.yml    | 43 +++-------
 .github/workflows/iron-debian-build.yml       | 39 +++------
 .github/workflows/iron-rhel-binary-build.yml  | 44 +++-------
 .github/workflows/reusable-debian-build.yml   | 75 +++++++++++++++++
 .../workflows/reusable-rhel-binary-build.yml  | 81 +++++++++++++++++++
 .github/workflows/rolling-debian-build.yml    | 38 +++------
 .../workflows/rolling-rhel-binary-build.yml   | 45 +++--------
 8 files changed, 224 insertions(+), 180 deletions(-)
 create mode 100644 .github/workflows/reusable-debian-build.yml
 create mode 100644 .github/workflows/reusable-rhel-binary-build.yml

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 482504c59a..461e3cfd76 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Humble Build
+name: Debian Humble Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,29 +10,14 @@ on:
 
 
 jobs:
-  humble_debian:
-    name: Humble debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-      skip-packages-build: rqt_controller_manager
-      skip-packages-test: rqt_controller_manager controller_manager_msgs
-    container: ghcr.io/ros-controls/ros:humble-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ./.github/workflows/reusable-debian-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+      skip_packages_test: controller_manager_msgs
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index 9d3b095e39..d1c08e7860 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Humble Binary Build
+name: RHEL Humble Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,34 +9,13 @@ on:
     - cron: '03 1 * * *'
 
 jobs:
-  humble_rhel_binary:
-    name: Humble RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-      skip-packages: rqt_controller_manager
-    container: ghcr.io/ros-controls/ros:humble-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_control || true
-      - name: Build workspace
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-          colcon test-result --verbose
+  rhel_semi_binary_build:
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index 35db1eb8d9..5934064de9 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Iron Build
+name: Debian Iron Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,29 +10,14 @@ on:
 
 
 jobs:
-  iron_debian:
-    name: Iron debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-      skip-packages-build: rqt_controller_manager
-      skip-packages-test: rqt_controller_manager controller_manager_msgs
-    container: ghcr.io/ros-controls/ros:iron-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ./.github/workflows/reusable-debian-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+      skip_packages_test: controller_manager_msgs
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index 435c3e9316..8ac5bdd954 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Iron Binary Build
+name: RHEL Iron Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,35 +9,13 @@ on:
     - cron: '03 1 * * *'
 
 jobs:
-  iron_rhel_binary:
-    name: Iron RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-      skip-packages: rqt_controller_manager
-    container: ghcr.io/ros-controls/ros:iron-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_control || true
-      - name: Build workspace
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip  ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip  ${{ env.skip-packages }}
-          colcon test-result --verbose
+  rhel_semi_binary_build:
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/reusable-debian-build.yml b/.github/workflows/reusable-debian-build.yml
new file mode 100644
index 0000000000..6fca63e767
--- /dev/null
+++ b/.github/workflows/reusable-debian-build.yml
@@ -0,0 +1,75 @@
+name: Reusable Debian Source Build
+# Reusable action to simplify dealing with debian source builds
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_call:
+    inputs:
+      ros_distro:
+        description: 'ROS2 distribution name'
+        required: true
+        type: string
+      ref_for_scheduled_build:
+        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
+        default: ''
+        required: false
+        type: string
+      upstream_workspace:
+        description: 'Path to local .repos file.'
+        default: ''
+        required: false
+        type: string
+      skip_packages:
+        description: 'Packages to skip from build and test'
+        default: ''
+        required: false
+        type: string
+      skip_packages_test:
+        description: 'Packages to skip from test additionally to skip_packages'
+        default: ''
+        required: false
+        type: string
+
+
+jobs:
+  debian_source:
+    name: ${{ inputs.ros_distro }} debian build
+    runs-on: ubuntu-latest
+    env:
+      # this will be src/{repo-owner}/{repo-name}
+      path: src/${{ github.repository }}
+    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-debian
+    steps:
+      - name: Checkout default ref when build is not scheduled
+        if: ${{ github.event_name != 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          path: ${{ env.path }}
+      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
+        if: ${{ github.event_name == 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.ref_for_scheduled_build }}
+          path: ${{ env.path }}
+      - name: Import upstream workspace
+        shell: bash
+        run: |
+          if [[ -n "${{ inputs.upstream_workspace }}" ]]; then
+            vcs import src < ${{ env.path }}/${{ inputs.upstream_workspace }}
+          fi
+      - name: Get list of packages
+        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
+        run: |
+          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only) $(colcon list --paths ${{ env.path }}/* --names-only)" >> $GITHUB_ENV
+      - name: Build workspace
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-up-to ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
+          colcon test-result --verbose
diff --git a/.github/workflows/reusable-rhel-binary-build.yml b/.github/workflows/reusable-rhel-binary-build.yml
new file mode 100644
index 0000000000..d123fd933a
--- /dev/null
+++ b/.github/workflows/reusable-rhel-binary-build.yml
@@ -0,0 +1,81 @@
+name: Reusable RHEL Binary Build
+# Reusable action to simplify dealing with RHEL binary builds
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_call:
+    inputs:
+      ros_distro:
+        description: 'ROS2 distribution name'
+        required: true
+        type: string
+      ref_for_scheduled_build:
+        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
+        default: ''
+        required: false
+        type: string
+      upstream_workspace:
+        description: 'Path to local .repos file.'
+        default: ''
+        required: false
+        type: string
+      skip_packages:
+        description: 'Packages to skip from build and test'
+        default: ''
+        required: false
+        type: string
+      skip_packages_test:
+        description: 'Packages to skip from test additionally to skip_packages'
+        default: ''
+        required: false
+        type: string
+
+jobs:
+  rhel_binary:
+    name: ${{ inputs.ros_distro }} RHEL binary build
+    runs-on: ubuntu-latest
+    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-rhel
+    env:
+      # this will be src/{repo-owner}/{repo-name}
+      path: src/${{ github.repository }}
+    steps:
+      - name: Checkout default ref when build is not scheduled
+        if: ${{ github.event_name != 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          path: ${{ env.path }}
+      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
+        if: ${{ github.event_name == 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.ref_for_scheduled_build }}
+          path: ${{ env.path }}
+      - name: Install dependencies
+        shell: bash
+        run: |
+          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          if [[ -n "${{ inputs.upstream_workspace }}" ]]; then
+            vcs import src < ${{ env.path }}/${{ inputs.upstream_workspace }}
+          fi
+          rosdep update
+          rosdep install -iyr --from-path src || true
+      - name: Get list of packages
+        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
+        run: |
+          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only) $(colcon list --paths ${{ env.path }}/* --names-only)" >> $GITHUB_ENV
+      - name: Build workspace
+        shell: bash
+        # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
+          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon build --packages-up-to ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
+        run: |
+          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon test --packages-select ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index efe1422404..a6de78ff51 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Rolling Build
+name: Debian Rolling Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,29 +10,13 @@ on:
 
 
 jobs:
-  rolling_debian:
-    name: Rolling debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-      skip-packages: rqt_controller_manager
-    container: ghcr.io/ros-controls/ros:rolling-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ./.github/workflows/reusable-debian-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 8f2638405b..b511883b77 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Rolling Binary Build
+name: RHEL Rolling Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,36 +9,13 @@ on:
     - cron: '03 1 * * *'
 
 jobs:
-  rolling_rhel_binary:
-    name: Rolling RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-      skip-packages: rqt_controller_manager
-    container: ghcr.io/ros-controls/ros:rolling-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_control || true
-      - name: Build workspace
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build  --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip  ${{ env.skip-packages }}
-          colcon test-result --verbose
+  rhel_semi_binary_build:
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager

From 9852bd7ec4fe013ef80e7564892967f490eb00cf Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 9 Feb 2024 15:54:58 +0000
Subject: [PATCH 3/8] No need for path with industrial_ci

---
 .github/workflows/reusable-industrial-ci-with-cache.yml | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
index a5e54a8fe5..acefeebfac 100644
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -55,19 +55,14 @@ jobs:
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
       CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
-      # this will be src/{repo-owner}/{repo-name}
-      path: src/${{ github.repository }}
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
         uses: actions/checkout@v4
-        with:
-          path: ${{ env.path }}
       - name: Checkout ${{ inputs.ref }} on scheduled build
         if: ${{ github.event_name == 'schedule' }}
         uses: actions/checkout@v4
         with:
-          path: ${{ env.path }}
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
         if: ${{ ! matrix.env.CCOV }}

From 7a1796c6cd3c703641cf53c5cf50d7ea48ee1f6f Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 9 Feb 2024 16:15:52 +0000
Subject: [PATCH 4/8] Fix colcon list for more than one package

---
 .github/workflows/reusable-debian-build.yml      | 2 +-
 .github/workflows/reusable-rhel-binary-build.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-debian-build.yml b/.github/workflows/reusable-debian-build.yml
index 6fca63e767..fe6b7ddee1 100644
--- a/.github/workflows/reusable-debian-build.yml
+++ b/.github/workflows/reusable-debian-build.yml
@@ -60,7 +60,7 @@ jobs:
       - name: Get list of packages
         # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
         run: |
-          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only) $(colcon list --paths ${{ env.path }}/* --names-only)" >> $GITHUB_ENV
+          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ env.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_ENV
       - name: Build workspace
         shell: bash
         run: |
diff --git a/.github/workflows/reusable-rhel-binary-build.yml b/.github/workflows/reusable-rhel-binary-build.yml
index d123fd933a..e5c1e0b1a6 100644
--- a/.github/workflows/reusable-rhel-binary-build.yml
+++ b/.github/workflows/reusable-rhel-binary-build.yml
@@ -63,7 +63,7 @@ jobs:
       - name: Get list of packages
         # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
         run: |
-          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only) $(colcon list --paths ${{ env.path }}/* --names-only)" >> $GITHUB_ENV
+          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ env.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_ENV
       - name: Build workspace
         shell: bash
         # source also underlay workspace with generate_parameter_library on rhel9

From d931f961b00dc1096edbab6079cfe6b3b5cbd7f4 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 9 Feb 2024 16:17:07 +0000
Subject: [PATCH 5/8] Fix colcon list for more than one package also for
 ros-tooling-source wf

---
 .github/workflows/reusable-ros-tooling-source-build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
index dee65152e8..f15501cd11 100644
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -40,7 +40,7 @@ jobs:
         # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
         run: |
           echo "REPO_NAME=$(echo ${{ github.repository }} | cut -d '/' -f 2)" >> $GITHUB_ENV
-          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only) $(colcon list --paths ${{ env.path }}/* --names-only)" >> $GITHUB_ENV
+          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ env.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_ENV
           echo "repo ${{ env.REPO_NAME}} has packages: ${{ env.package_list }}"
       - uses: ros-tooling/action-ros-ci@0.3.6
         with:

From 2a3cb96e3eb21d65ce0f8e241a0a8a979168c2b5 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 9 Feb 2024 16:27:04 +0000
Subject: [PATCH 6/8] Use strategy matrix for main/testing

---
 ...ld-testing.yml => humble-binary-build.yml} | 12 ++++++---
 .../humble-semi-binary-build-main.yml         | 23 -----------------
 .../humble-semi-binary-build-testing.yml      | 23 -----------------
 ...-main.yml => humble-semi-binary-build.yml} | 12 ++++++---
 ...y-build-main.yml => iron-binary-build.yml} | 10 +++++---
 .../workflows/iron-semi-binary-build-main.yml | 23 -----------------
 .../iron-semi-binary-build-testing.yml        | 23 -----------------
 ...testing.yml => iron-semi-binary-build.yml} | 12 ++++++---
 ...d-testing.yml => rolling-binary-build.yml} | 14 ++++++-----
 .../rolling-semi-binary-build-main.yml        | 25 -------------------
 .../rolling-semi-binary-build-testing.yml     | 23 -----------------
 ...main.yml => rolling-semi-binary-build.yml} | 12 ++++++---
 12 files changed, 47 insertions(+), 165 deletions(-)
 rename .github/workflows/{humble-binary-build-testing.yml => humble-binary-build.yml} (62%)
 delete mode 100644 .github/workflows/humble-semi-binary-build-main.yml
 delete mode 100644 .github/workflows/humble-semi-binary-build-testing.yml
 rename .github/workflows/{humble-binary-build-main.yml => humble-semi-binary-build.yml} (63%)
 rename .github/workflows/{iron-binary-build-main.yml => iron-binary-build.yml} (73%)
 delete mode 100644 .github/workflows/iron-semi-binary-build-main.yml
 delete mode 100644 .github/workflows/iron-semi-binary-build-testing.yml
 rename .github/workflows/{iron-binary-build-testing.yml => iron-semi-binary-build.yml} (65%)
 rename .github/workflows/{rolling-binary-build-testing.yml => rolling-binary-build.yml} (62%)
 delete mode 100644 .github/workflows/rolling-semi-binary-build-main.yml
 delete mode 100644 .github/workflows/rolling-semi-binary-build-testing.yml
 rename .github/workflows/{rolling-binary-build-main.yml => rolling-semi-binary-build.yml} (63%)

diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build.yml
similarity index 62%
rename from .github/workflows/humble-binary-build-testing.yml
rename to .github/workflows/humble-binary-build.yml
index 99ff6ccd4a..5fd3cc9d01 100644
--- a/.github/workflows/humble-binary-build-testing.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -1,4 +1,4 @@
-name: Humble Binary Build - testing
+name: Humble Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -17,8 +17,12 @@ on:
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: ros2_control-not-released.humble.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control-not-released.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
deleted file mode 100644
index 88591b69f7..0000000000
--- a/.github/workflows/humble-semi-binary-build-main.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Humble Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - humble
-  push:
-    branches:
-      - humble
-  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: humble
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build-testing.yml
deleted file mode 100644
index 3d6b2717e3..0000000000
--- a/.github/workflows/humble-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Humble Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - humble
-  push:
-    branches:
-      - humble
-  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: ros2_control.humble.repos
-      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-semi-binary-build.yml
similarity index 63%
rename from .github/workflows/humble-binary-build-main.yml
rename to .github/workflows/humble-semi-binary-build.yml
index 1fafd01c9e..8a11e9137d 100644
--- a/.github/workflows/humble-binary-build-main.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Humble Binary Build - main
+name: Humble Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -17,8 +17,12 @@ on:
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: ros2_control-not-released.humble.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/iron-binary-build-main.yml b/.github/workflows/iron-binary-build.yml
similarity index 73%
rename from .github/workflows/iron-binary-build-main.yml
rename to .github/workflows/iron-binary-build.yml
index 440b573cb9..3c619de77c 100644
--- a/.github/workflows/iron-binary-build-main.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -1,4 +1,4 @@
-name: Iron Binary Build - main
+name: Iron Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -17,8 +17,12 @@ on:
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: iron
-      ros_repo: main
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control-not-released.iron.repos
       ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-semi-binary-build-main.yml b/.github/workflows/iron-semi-binary-build-main.yml
deleted file mode 100644
index c5697d6e74..0000000000
--- a/.github/workflows/iron-semi-binary-build-main.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Iron Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-  push:
-    branches:
-      - iron
-  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: iron
-      ros_repo: main
-      upstream_workspace: ros2_control.iron.repos
-      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-semi-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build-testing.yml
deleted file mode 100644
index 0055e38cba..0000000000
--- a/.github/workflows/iron-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Iron Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-  push:
-    branches:
-      - iron
-  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: iron
-      ros_repo: testing
-      upstream_workspace: ros2_control.iron.repos
-      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build.yml
similarity index 65%
rename from .github/workflows/iron-binary-build-testing.yml
rename to .github/workflows/iron-semi-binary-build.yml
index 78e13f2528..3dab236df1 100644
--- a/.github/workflows/iron-binary-build-testing.yml
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Iron Binary Build - testing
+name: Iron Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -17,8 +17,12 @@ on:
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: iron
-      ros_repo: testing
-      upstream_workspace: ros2_control-not-released.iron.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control.iron.repos
       ref_for_scheduled_build: iron
diff --git a/.github/workflows/rolling-binary-build-testing.yml b/.github/workflows/rolling-binary-build.yml
similarity index 62%
rename from .github/workflows/rolling-binary-build-testing.yml
rename to .github/workflows/rolling-binary-build.yml
index 811c96fce4..c6a81cea2c 100644
--- a/.github/workflows/rolling-binary-build-testing.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -1,11 +1,9 @@
-name: Rolling Binary Build - testing
+name: Rolling Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -19,8 +17,12 @@ on:
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: rolling
-      ros_repo: testing
-      upstream_workspace: ros2_control-not-released.rolling.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control-not-released.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build-main.yml
deleted file mode 100644
index 1033dd1e6c..0000000000
--- a/.github/workflows/rolling-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Rolling 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: rolling
-      ros_repo: main
-      upstream_workspace: ros2_control.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build-testing.yml b/.github/workflows/rolling-semi-binary-build-testing.yml
deleted file mode 100644
index 17d290c45b..0000000000
--- a/.github/workflows/rolling-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Rolling Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  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: rolling
-      ros_repo: testing
-      upstream_workspace: ros2_control.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build.yml
similarity index 63%
rename from .github/workflows/rolling-binary-build-main.yml
rename to .github/workflows/rolling-semi-binary-build.yml
index 1777810661..5ffaf0a880 100644
--- a/.github/workflows/rolling-binary-build-main.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Rolling Binary Build - main
+name: Rolling Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -17,8 +17,12 @@ on:
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: rolling
-      ros_repo: main
-      upstream_workspace: ros2_control-not-released.rolling.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master

From 6707672f7352468709af60d1940128d10fa27863 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sun, 11 Feb 2024 21:52:12 +0000
Subject: [PATCH 7/8] Move reusable wfs to ros2_control_ci

---
 .github/workflows/reusable-debian-build.yml   | 75 ---------------
 .../reusable-industrial-ci-with-cache.yml     | 96 -------------------
 .../workflows/reusable-rhel-binary-build.yml  | 81 ----------------
 .../reusable-ros-tooling-source-build.yml     | 57 -----------
 4 files changed, 309 deletions(-)
 delete mode 100644 .github/workflows/reusable-debian-build.yml
 delete mode 100644 .github/workflows/reusable-industrial-ci-with-cache.yml
 delete mode 100644 .github/workflows/reusable-rhel-binary-build.yml
 delete mode 100644 .github/workflows/reusable-ros-tooling-source-build.yml

diff --git a/.github/workflows/reusable-debian-build.yml b/.github/workflows/reusable-debian-build.yml
deleted file mode 100644
index fe6b7ddee1..0000000000
--- a/.github/workflows/reusable-debian-build.yml
+++ /dev/null
@@ -1,75 +0,0 @@
-name: Reusable Debian Source Build
-# Reusable action to simplify dealing with debian source builds
-# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
-
-on:
-  workflow_call:
-    inputs:
-      ros_distro:
-        description: 'ROS2 distribution name'
-        required: true
-        type: string
-      ref_for_scheduled_build:
-        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
-        default: ''
-        required: false
-        type: string
-      upstream_workspace:
-        description: 'Path to local .repos file.'
-        default: ''
-        required: false
-        type: string
-      skip_packages:
-        description: 'Packages to skip from build and test'
-        default: ''
-        required: false
-        type: string
-      skip_packages_test:
-        description: 'Packages to skip from test additionally to skip_packages'
-        default: ''
-        required: false
-        type: string
-
-
-jobs:
-  debian_source:
-    name: ${{ inputs.ros_distro }} debian build
-    runs-on: ubuntu-latest
-    env:
-      # this will be src/{repo-owner}/{repo-name}
-      path: src/${{ github.repository }}
-    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-debian
-    steps:
-      - name: Checkout default ref when build is not scheduled
-        if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          path: ${{ env.path }}
-      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
-        if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref_for_scheduled_build }}
-          path: ${{ env.path }}
-      - name: Import upstream workspace
-        shell: bash
-        run: |
-          if [[ -n "${{ inputs.upstream_workspace }}" ]]; then
-            vcs import src < ${{ env.path }}/${{ inputs.upstream_workspace }}
-          fi
-      - name: Get list of packages
-        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
-        run: |
-          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ env.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_ENV
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon build --packages-up-to ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
-          colcon test-result --verbose
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
deleted file mode 100644
index acefeebfac..0000000000
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ /dev/null
@@ -1,96 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-on:
-  workflow_call:
-    inputs:
-      ref_for_scheduled_build:
-        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
-        default: ''
-        required: false
-        type: string
-
-      upstream_workspace:
-        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
-        required: true
-        type: string
-      ros_distro:
-        description: 'ROS_DISTRO variable for industrial_ci'
-        required: true
-        type: string
-      ros_repo:
-        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
-        default: 'main'
-        required: false
-        type: string
-      os_code_name:
-        description: 'OS_CODE_NAME variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-      before_install_upstream_dependencies:
-        description: 'BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-
-      ccache_dir:
-        description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.ccache'
-        required: false
-        type: string
-      basedir:
-        description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.work'
-        required: false
-        type: string
-
-
-jobs:
-  reusable_industrial_ci_with_cache:
-    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
-    runs-on: ubuntu-latest
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
-      BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
-    steps:
-      - name: Checkout ${{ inputs.ref }} when build is not scheduled
-        if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v4
-      - name: Checkout ${{ inputs.ref }} on scheduled build
-        if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref_for_scheduled_build }}
-      - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v3.0.11
-        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/always-upload-cache@v3.0.11
-        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:
-          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
-          ROS_DISTRO: ${{ inputs.ros_distro }}
-          ROS_REPO: ${{ inputs.ros_repo }}
-          OS_CODE_NAME: ${{ inputs.os_code_name }}
-          BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
-      - 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
diff --git a/.github/workflows/reusable-rhel-binary-build.yml b/.github/workflows/reusable-rhel-binary-build.yml
deleted file mode 100644
index e5c1e0b1a6..0000000000
--- a/.github/workflows/reusable-rhel-binary-build.yml
+++ /dev/null
@@ -1,81 +0,0 @@
-name: Reusable RHEL Binary Build
-# Reusable action to simplify dealing with RHEL binary builds
-# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
-
-on:
-  workflow_call:
-    inputs:
-      ros_distro:
-        description: 'ROS2 distribution name'
-        required: true
-        type: string
-      ref_for_scheduled_build:
-        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
-        default: ''
-        required: false
-        type: string
-      upstream_workspace:
-        description: 'Path to local .repos file.'
-        default: ''
-        required: false
-        type: string
-      skip_packages:
-        description: 'Packages to skip from build and test'
-        default: ''
-        required: false
-        type: string
-      skip_packages_test:
-        description: 'Packages to skip from test additionally to skip_packages'
-        default: ''
-        required: false
-        type: string
-
-jobs:
-  rhel_binary:
-    name: ${{ inputs.ros_distro }} RHEL binary build
-    runs-on: ubuntu-latest
-    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-rhel
-    env:
-      # this will be src/{repo-owner}/{repo-name}
-      path: src/${{ github.repository }}
-    steps:
-      - name: Checkout default ref when build is not scheduled
-        if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          path: ${{ env.path }}
-      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
-        if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref_for_scheduled_build }}
-          path: ${{ env.path }}
-      - name: Install dependencies
-        shell: bash
-        run: |
-          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          if [[ -n "${{ inputs.upstream_workspace }}" ]]; then
-            vcs import src < ${{ env.path }}/${{ inputs.upstream_workspace }}
-          fi
-          rosdep update
-          rosdep install -iyr --from-path src || true
-      - name: Get list of packages
-        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
-        run: |
-          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ env.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_ENV
-      - name: Build workspace
-        shell: bash
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build --packages-up-to ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
-          colcon test-result --verbose
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
deleted file mode 100644
index f15501cd11..0000000000
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ /dev/null
@@ -1,57 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-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 repository from which ".repos" should be used.'
-        default: 'master'
-        required: false
-        type: string
-
-jobs:
-  reusable_ros_tooling_source_build:
-    name: ${{ inputs.ros_distro }} ubuntu-22.04
-    runs-on: ubuntu-22.04
-    env:
-      # this will be src/{repo-owner}/{repo-name}
-      path: src/${{ github.repository }}
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: ros-tooling/setup-ros@0.7.1
-        with:
-          required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref }}
-          path: ${{ env.path }}
-      - name: Get list of packages
-        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
-        run: |
-          echo "REPO_NAME=$(echo ${{ github.repository }} | cut -d '/' -f 2)" >> $GITHUB_ENV
-          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ env.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_ENV
-          echo "repo ${{ env.REPO_NAME}} has packages: ${{ env.package_list }}"
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ inputs.ros_distro }}
-          ref: ${{ inputs.ref }}
-          package-name: ${{ env.package_list }}
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
-            ${{ env.path }}/${{ env.REPO_NAME}}.${{ inputs.ros_distro }}.repos
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v4.3.0
-        with:
-          name: colcon-logs-ubuntu-22.04
-          path: ros_ws/log

From 2b1be53c16c19cc3e7f524d247b34e88fba2d1a7 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sun, 11 Feb 2024 22:32:46 +0000
Subject: [PATCH 8/8] Use reusable wfs from ros2_control_ci

---
 .github/workflows/humble-binary-build.yml       | 2 +-
 .github/workflows/humble-debian-build.yml       | 2 +-
 .github/workflows/humble-rhel-binary-build.yml  | 2 +-
 .github/workflows/humble-semi-binary-build.yml  | 2 +-
 .github/workflows/humble-source-build.yml       | 2 +-
 .github/workflows/iron-binary-build.yml         | 2 +-
 .github/workflows/iron-debian-build.yml         | 2 +-
 .github/workflows/iron-rhel-binary-build.yml    | 2 +-
 .github/workflows/iron-semi-binary-build.yml    | 2 +-
 .github/workflows/iron-source-build.yml         | 2 +-
 .github/workflows/rolling-binary-build.yml      | 2 +-
 .github/workflows/rolling-debian-build.yml      | 2 +-
 .github/workflows/rolling-rhel-binary-build.yml | 2 +-
 .github/workflows/rolling-semi-binary-build.yml | 2 +-
 .github/workflows/rolling-source-build.yml      | 2 +-
 15 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 5fd3cc9d01..dd7119d878 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -16,7 +16,7 @@ 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_DISTRO: [humble]
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 461e3cfd76..f5af601316 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -11,7 +11,7 @@ on:
 
 jobs:
   debian_source_build:
-    uses: ./.github/workflows/reusable-debian-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
     strategy:
       matrix:
         ROS_DISTRO: [humble]
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index d1c08e7860..c541b00636 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   rhel_semi_binary_build:
-    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
     strategy:
       matrix:
         ROS_DISTRO: [humble]
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index 8a11e9137d..edfcfa1734 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -16,7 +16,7 @@ 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_DISTRO: [humble]
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index a40d53f8e3..7b4427d6d6 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -10,7 +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: humble
       ref: humble
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
index 3c619de77c..245b075ae7 100644
--- a/.github/workflows/iron-binary-build.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -16,7 +16,7 @@ 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_DISTRO: [iron]
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index 5934064de9..738fff8acb 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -11,7 +11,7 @@ on:
 
 jobs:
   debian_source_build:
-    uses: ./.github/workflows/reusable-debian-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
     strategy:
       matrix:
         ROS_DISTRO: [iron]
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index 8ac5bdd954..e1c80435eb 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   rhel_semi_binary_build:
-    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
     strategy:
       matrix:
         ROS_DISTRO: [iron]
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
index 3dab236df1..fde8d065e7 100644
--- a/.github/workflows/iron-semi-binary-build.yml
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -16,7 +16,7 @@ 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_DISTRO: [iron]
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
index 34372a4178..3609dcfc41 100644
--- a/.github/workflows/iron-source-build.yml
+++ b/.github/workflows/iron-source-build.yml
@@ -10,7 +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: iron
       ref: iron
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index c6a81cea2c..c17799922a 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -16,7 +16,7 @@ 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_DISTRO: [rolling]
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index a6de78ff51..c175f41e5b 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -11,7 +11,7 @@ on:
 
 jobs:
   debian_source_build:
-    uses: ./.github/workflows/reusable-debian-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
     strategy:
       matrix:
         ROS_DISTRO: [rolling]
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index b511883b77..d3544d53a2 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   rhel_semi_binary_build:
-    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
     strategy:
       matrix:
         ROS_DISTRO: [rolling]
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 5ffaf0a880..743b472c32 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -16,7 +16,7 @@ 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_DISTRO: [rolling]
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 475e509e0f..f34a8e6bb5 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -10,7 +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