From 3289c0b9711713bde7dcfdb3470aefcf654c547c Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Sat, 17 Feb 2024 20:12:59 +0000
Subject: [PATCH] [CI] debian + RHEL updates (#985) (#1017)

---
 .github/workflows/humble-debian-build.yml     | 30 ++++++++++++++++++
 .../workflows/humble-rhel-binary-build.yml    | 31 +++++++++++++++++++
 .github/workflows/iron-debian-build.yml       | 30 ++++++++++++++++++
 .github/workflows/iron-rhel-binary-build.yml  | 18 +++++++----
 .github/workflows/rolling-debian-build.yml    | 30 ++++++++++++++++++
 .../workflows/rolling-rhel-binary-build.yml   | 18 +++++++----
 6 files changed, 145 insertions(+), 12 deletions(-)
 create mode 100644 .github/workflows/humble-debian-build.yml
 create mode 100644 .github/workflows/humble-rhel-binary-build.yml
 create mode 100644 .github/workflows/iron-debian-build.yml
 create mode 100644 .github/workflows/rolling-debian-build.yml

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
new file mode 100644
index 0000000000..e8deb2caa5
--- /dev/null
+++ b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Humble Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+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.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
new file mode 100644
index 0000000000..cd9b85b2e1
--- /dev/null
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -0,0 +1,31 @@
+name: RHEL Humble Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  humble_rhel_binary:
+    name: Humble RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: humble
+    container: ghcr.io/ros-controls/ros:humble-rhel
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Install dependencies
+        run: |
+          rosdep update
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          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/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
new file mode 100644
index 0000000000..09dbd051b2
--- /dev/null
+++ b/.github/workflows/iron-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Iron Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+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.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index 5664d61768..0eb28b9673 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -1,7 +1,7 @@
-name: Iron RHEL Binary Build
+name: RHEL Iron Binary Build
 on:
   workflow_dispatch:
-  push:
+  pull_request:
     branches:
       - iron
   schedule:
@@ -20,9 +20,15 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+      # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          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-debian-build.yml b/.github/workflows/rolling-debian-build.yml
new file mode 100644
index 0000000000..b6d0a4193a
--- /dev/null
+++ b/.github/workflows/rolling-debian-build.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: '03 1 * * *'
+
+
+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.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 04dc58775f..dece43b673 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,7 +1,7 @@
-name: Rolling RHEL Binary Build
+name: RHEL Rolling Binary Build
 on:
   workflow_dispatch:
-  push:
+  pull_request:
     branches:
       - master
   schedule:
@@ -20,9 +20,15 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+        # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          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