Add CI for rolling-version on humble/iron

.github/workflows/reusable-industrial-ci-with-cache.yml

@@ -44,7 +44,11 @@ on:
         default: ''
         required: false
         type: string
-
+      rosdep_skip_keys:
+        description: 'ROSDEP_SKIP_KEYS 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'
@@ -99,6 +103,7 @@ jobs:
           ROS_REPO: ${{ inputs.ros_repo }}
           OS_CODE_NAME: ${{ inputs.os_code_name }}
           BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
+          ROSDEP_SKIP_KEYS: ${{ inputs.rosdep_skip_keys }}
         id: ici
       - name: Download issue template  for target failure  # Has to be a local file
         if: ${{ always() && steps.ici.outcome == 'failure' && github.event_name == 'schedule' }}

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

@@ -0,0 +1,21 @@
+name: Check Rolling Compatibility on Humble with Stack Build
+
+on:
+  workflow_dispatch:
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  stack-build-on-humble:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      target_workspace: ros_controls.rolling-on-humble.repos
+      ref_for_scheduled_build: master

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

@@ -0,0 +1,21 @@
+name: Check Rolling Compatibility on Iron with Stack Build
+
+on:
+  workflow_dispatch:
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  stack-build-on-iron:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [iron]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      target_workspace: ros_controls.rolling-on-iron.repos
+      ref_for_scheduled_build: master

README.md

@@ -6,6 +6,14 @@ This repository holds reusable workflows for CI of the ros2_control framework.
 
 It also builds the full ros2_control stack once per day.
 
+## Released versions
+
 [![Rolling Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml)
 [![Iron Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/iron-binary-build.yml)
 [![Humble Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml)
+
+## Compatibility versions
+We thrive to make the rolling development version of the ros2_control stack compatible with earlier releases of ROS2. This is done by building the rolling version of the stack from source with the earlier releases of ROS2.
+
+[![Check Rolling Compatibility on Iron with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml)
+[![Check Rolling Compatibility on Humble with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml)

ros_controls.humble.repos

@@ -1,37 +1,37 @@
 repositories:
-  ros-controls/realtime_tools:
-    type: git
-    url: https://github.com/ros-controls/realtime_tools.git
-    version: master
   ros-controls/control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
     version: humble
-  ros-controls/ros2_control:
+  ros-controls/control_toolbox:
     type: git
-    url: https://github.com/ros-controls/ros2_control.git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  ros-controls/gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
     version: humble
-  ros-controls/ros2_controllers:
+  ros-controls/gz_ros2_control:
     type: git
-    url: https://github.com/ros-controls/ros2_controllers.git
+    url: https://github.com/ros-controls/gz_ros2_control.git
     version: humble
   ros-controls/kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
     version: master
-  ros-controls/gz_ros2_control:
+  ros-controls/realtime_tools:
     type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
-    version: humble
-  ros-controls/gazebo_ros2_control:
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
     type: git
-    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    url: https://github.com/ros-controls/ros2_control.git
     version: humble
   ros-controls/ros2_control_demos:
     type: git
     url: https://github.com/ros-controls/ros2_control_demos.git
     version: humble
-  ros-controls/control_toolbox:
+  ros-controls/ros2_controllers:
     type: git
-    url: https://github.com/ros-controls/control_toolbox.git
-    version: ros2-master
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: humble

ros_controls.iron.repos

@@ -1,37 +1,37 @@
 repositories:
-  ros-controls/realtime_tools:
-    type: git
-    url: https://github.com/ros-controls/realtime_tools.git
-    version: master
   ros-controls/control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
     version: master
-  ros-controls/ros2_control:
+  ros-controls/control_toolbox:
     type: git
-    url: https://github.com/ros-controls/ros2_control.git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  ros-controls/gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
     version: iron
-  ros-controls/ros2_controllers:
+  ros-controls/gz_ros2_control:
     type: git
-    url: https://github.com/ros-controls/ros2_controllers.git
+    url: https://github.com/ros-controls/gz_ros2_control.git
     version: iron
   ros-controls/kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
     version: master
-  ros-controls/gz_ros2_control:
+  ros-controls/realtime_tools:
     type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
-    version: iron
-  ros-controls/gazebo_ros2_control:
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
     type: git
-    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    url: https://github.com/ros-controls/ros2_control.git
     version: iron
   ros-controls/ros2_control_demos:
     type: git
     url: https://github.com/ros-controls/ros2_control_demos.git
     version: iron
-  ros-controls/control_toolbox:
+  ros-controls/ros2_controllers:
     type: git
-    url: https://github.com/ros-controls/control_toolbox.git
-    version: ros2-master
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: iron

ros_controls.rolling-on-humble.repos

@@ -0,0 +1,37 @@
+repositories:
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  ros-controls/gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master

ros_controls.rolling-on-iron.repos

@@ -0,0 +1,37 @@
+repositories:
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  ros-controls/gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master

ros_controls.rolling.repos

@@ -1,37 +1,37 @@
 repositories:
-  ros-controls/realtime_tools:
-    type: git
-    url: https://github.com/ros-controls/realtime_tools.git
-    version: master
   ros-controls/control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
     version: master
-  ros-controls/ros2_control:
+  ros-controls/control_toolbox:
     type: git
-    url: https://github.com/ros-controls/ros2_control.git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  ros-controls/gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
     version: master
-  ros-controls/ros2_controllers:
+  ros-controls/gz_ros2_control:
     type: git
-    url: https://github.com/ros-controls/ros2_controllers.git
+    url: https://github.com/ros-controls/gz_ros2_control.git
     version: master
   ros-controls/kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
     version: master
-  ros-controls/gz_ros2_control:
+  ros-controls/realtime_tools:
     type: git
-    url: https://github.com/ros-controls/gz_ros2_control.git
+    url: https://github.com/ros-controls/realtime_tools.git
     version: master
-  ros-controls/gazebo_ros2_control:
+  ros-controls/ros2_control:
     type: git
-    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    url: https://github.com/ros-controls/ros2_control.git
     version: master
   ros-controls/ros2_control_demos:
     type: git
     url: https://github.com/ros-controls/ros2_control_demos.git
     version: master
-  ros-controls/control_toolbox:
+  ros-controls/ros2_controllers:
     type: git
-    url: https://github.com/ros-controls/control_toolbox.git
-    version: ros2-master
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master