[CI] clang, downstream and compatibility builds (#94)

(cherry picked from commit f9c7c3a)

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

@@ -5,6 +5,11 @@ on:
     branches:
       - humble
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest

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

@@ -14,6 +14,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
@@ -26,4 +31,4 @@ jobs:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: kinematics_interface-not-released.${{ matrix.ROS_DISTRO }}.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: humble

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

@@ -8,6 +8,11 @@ on:
     branches:
       - humble
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_humble:
     name: coverage build - humble

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

@@ -8,15 +8,15 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '33 2 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [humble]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ros_distro: humble
+      upstream_workspace: kinematics_interface.humble.repos
       ref_for_scheduled_build: master

.github/workflows/humble-pre-commit.yml

@@ -6,6 +6,10 @@ on:
     branches:
       - humble
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master

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

@@ -8,14 +8,15 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '42 4 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   rhel_semi_binary_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [humble]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ros_distro: humble
+      upstream_workspace: kinematics_interface.humble.repos
       ref_for_scheduled_build: master

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

@@ -13,16 +13,27 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   semi_binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [humble]
-        ROS_REPO: [main, testing]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: kinematics_interface.humble.repos
       ref_for_scheduled_build: master
+  semi_binary_clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: kinematics_interface.humble.repos
+      ref_for_scheduled_build: humble
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true

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

@@ -0,0 +1,26 @@
+name: Humble Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      not_test_build: true
+      upstream_workspace: kinematics_interface.humble.repos
+      # we test the downstream packages, which are part of our organization
+      downstream_workspace: ros_controls.humble.repos
+      not_test_downstream: false

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

@@ -8,15 +8,16 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   source:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [humble]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_distro: humble
       ref: master
-      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
+      ros2_repo_branch: humble
       os_name: ubuntu-22.04

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

@@ -5,6 +5,11 @@ on:
     branches:
       - master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest

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

@@ -14,6 +14,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master

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

@@ -0,0 +1,31 @@
+name: Check Rolling Compatibility
+# author: Christoph Froehlich <[email protected]>
+# description: 'Build & test the rolling version on earlier distros.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, jazzy]
+        ROS_REPO: [testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: kinematics_interface.rolling.repos
+      ref_for_scheduled_build: master

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

@@ -8,6 +8,11 @@ on:
     branches:
       - master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_rolling:
     name: coverage build - rolling

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

@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '33 2 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:

.github/workflows/rolling-pre-commit.yml

@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master

.github/workflows/rolling-rhel-semi-binary-build.yml

@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '42 4 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   rhel_semi_binary_build:

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

@@ -13,16 +13,33 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   semi_binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
       matrix:
         ROS_DISTRO: [rolling, jazzy]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+  semi_binary_clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      # job for building only, no tests -> one distro is enough
+      ros_distro: rolling
+      ros_repo: testing
+      upstream_workspace: kinematics_interface.rolling.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true

.github/workflows/rolling-semi-binary-downstream-build.yml

@@ -0,0 +1,31 @@
+name: Rolling Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <[email protected]>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [jazzy, rolling]
+        ROS_REPO: [testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      ref_for_scheduled_build: master
+      not_test_build: true
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      # we test the downstream packages, which are part of our organization
+      downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      not_test_downstream: false

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

@@ -8,6 +8,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   source:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master

kinematics_interface.humble.repos

@@ -1,5 +1,14 @@
 repositories:
+  # needed for ros2_control_test_assets
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
     version: humble
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: humble
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: humble

kinematics_interface.jazzy.repos

@@ -1,5 +1,14 @@
 repositories:
+  # needed for ros2_control_test_assets
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
     version: master
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master