From 2196c76db13e2c01794b98ab6bbcfd1f7155855e Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 17 Jan 2024 17:24:11 +0000
Subject: [PATCH 01/15] Initial version of debian wf

---
 .github/workflows/rolling-debian-build.yml | 30 ++++++++++++++++++++++
 1 file changed, 30 insertions(+)
 create mode 100644 .github/workflows/rolling-debian-build.yml

diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
new file mode 100644
index 0000000000..e493cb587a
--- /dev/null
+++ b/.github/workflows/rolling-debian-build.yml
@@ -0,0 +1,30 @@
+name: Rolling debian Binary Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  rolling_debian_binary:
+    name: Rolling debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: rolling
+    container: ghcr.io/christophfroehlich/ros:rolling-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager

From b4bb0b38938824232175791f1aa7656e8fa316bc Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 17 Jan 2024 19:27:59 +0000
Subject: [PATCH 02/15] temporary remove all jobs

---
 .github/workflows/ci-check-docs.yml           | 12 ---
 .github/workflows/ci-coverage-build.yml       | 52 ----------
 .github/workflows/ci-format.yml               | 23 -----
 .github/workflows/ci-ros-lint.yml             | 55 -----------
 .github/workflows/docker.yml                  | 94 ------------------
 .../workflows/humble-abi-compatibility.yml    | 20 ----
 .../workflows/humble-binary-build-main.yml    | 26 -----
 .../workflows/humble-binary-build-testing.yml | 26 -----
 .../workflows/humble-rhel-binary-build.yml    | 32 -------
 .../humble-semi-binary-build-main.yml         | 25 -----
 .../humble-semi-binary-build-testing.yml      | 25 -----
 .github/workflows/humble-source-build.yml     | 19 ----
 .github/workflows/iron-abi-compatibility.yml  | 20 ----
 .github/workflows/iron-binary-build-main.yml  | 26 -----
 .../workflows/iron-binary-build-testing.yml   | 26 -----
 .github/workflows/iron-rhel-binary-build.yml  | 32 -------
 .../workflows/iron-semi-binary-build-main.yml | 25 -----
 .../iron-semi-binary-build-testing.yml        | 25 -----
 .github/workflows/iron-source-build.yml       | 19 ----
 .github/workflows/prerelease-check.yml        | 37 -------
 .../reusable-industrial-ci-with-cache.yml     | 96 -------------------
 .../reusable-ros-tooling-source-build.yml     | 56 -----------
 .github/workflows/reviewer_lottery.yml        | 14 ---
 .../workflows/rolling-binary-build-main.yml   | 26 -----
 .../rolling-binary-build-testing.yml          | 26 -----
 .../workflows/rolling-rhel-binary-build.yml   | 28 ------
 .../rolling-semi-binary-build-main.yml        | 25 -----
 .../rolling-semi-binary-build-testing.yml     | 25 -----
 .github/workflows/rolling-source-build.yml    | 19 ----
 29 files changed, 934 deletions(-)
 delete mode 100644 .github/workflows/ci-check-docs.yml
 delete mode 100644 .github/workflows/ci-coverage-build.yml
 delete mode 100644 .github/workflows/ci-format.yml
 delete mode 100644 .github/workflows/ci-ros-lint.yml
 delete mode 100644 .github/workflows/docker.yml
 delete mode 100644 .github/workflows/humble-abi-compatibility.yml
 delete mode 100644 .github/workflows/humble-binary-build-main.yml
 delete mode 100644 .github/workflows/humble-binary-build-testing.yml
 delete mode 100644 .github/workflows/humble-rhel-binary-build.yml
 delete mode 100644 .github/workflows/humble-semi-binary-build-main.yml
 delete mode 100644 .github/workflows/humble-semi-binary-build-testing.yml
 delete mode 100644 .github/workflows/humble-source-build.yml
 delete mode 100644 .github/workflows/iron-abi-compatibility.yml
 delete mode 100644 .github/workflows/iron-binary-build-main.yml
 delete mode 100644 .github/workflows/iron-binary-build-testing.yml
 delete mode 100644 .github/workflows/iron-rhel-binary-build.yml
 delete mode 100644 .github/workflows/iron-semi-binary-build-main.yml
 delete mode 100644 .github/workflows/iron-semi-binary-build-testing.yml
 delete mode 100644 .github/workflows/iron-source-build.yml
 delete mode 100644 .github/workflows/prerelease-check.yml
 delete mode 100644 .github/workflows/reusable-industrial-ci-with-cache.yml
 delete mode 100644 .github/workflows/reusable-ros-tooling-source-build.yml
 delete mode 100644 .github/workflows/reviewer_lottery.yml
 delete mode 100644 .github/workflows/rolling-binary-build-main.yml
 delete mode 100644 .github/workflows/rolling-binary-build-testing.yml
 delete mode 100644 .github/workflows/rolling-rhel-binary-build.yml
 delete mode 100644 .github/workflows/rolling-semi-binary-build-main.yml
 delete mode 100644 .github/workflows/rolling-semi-binary-build-testing.yml
 delete mode 100644 .github/workflows/rolling-source-build.yml

diff --git a/.github/workflows/ci-check-docs.yml b/.github/workflows/ci-check-docs.yml
deleted file mode 100644
index 90a822aa72..0000000000
--- a/.github/workflows/ci-check-docs.yml
+++ /dev/null
@@ -1,12 +0,0 @@
-name: Check Docs
-
-on:
-  workflow_dispatch:
-  pull_request:
-
-jobs:
-  check-docs:
-    name: Check Docs
-    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@master
-    with:
-      ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
deleted file mode 100644
index 6edb1707b1..0000000000
--- a/.github/workflows/ci-coverage-build.yml
+++ /dev/null
@@ -1,52 +0,0 @@
-name: Coverage Build
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-
-jobs:
-  coverage:
-    name: coverage build
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    env:
-      ROS_DISTRO: rolling
-    steps:
-      - uses: ros-tooling/setup-ros@0.7.1
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.5
-        with:
-          target-ros2-distro: ${{ env.ROS_DISTRO }}
-          import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed in the meta package
-          package-name:
-            controller_interface
-            controller_manager
-            hardware_interface
-            transmission_interface
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.4
-        with:
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.1.0
-        with:
-          name: colcon-logs-ubuntu-22.04-coverage-rolling
-          path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
deleted file mode 100644
index c7199b88c5..0000000000
--- a/.github/workflows/ci-format.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-# This is a format job. Pre-commit has a first-party GitHub action, so we use
-# that: https://github.com/pre-commit/action
-
-name: Format
-
-on:
-  workflow_dispatch:
-  pull_request:
-
-jobs:
-  pre-commit:
-    name: Format
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-    - uses: actions/setup-python@v5.0.0
-      with:
-        python-version: '3.10'
-    - name: Install system hooks
-      run: sudo apt install -qq cppcheck
-    - uses: pre-commit/action@v3.0.0
-      with:
-        extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
deleted file mode 100644
index 84c68217f3..0000000000
--- a/.github/workflows/ci-ros-lint.yml
+++ /dev/null
@@ -1,55 +0,0 @@
-name: ROS Lint
-on:
-  pull_request:
-
-jobs:
-  ament_lint:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-          linter: [cppcheck, copyright, lint_cmake]
-    env:
-      AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
-    steps:
-    - uses: actions/checkout@v4
-    - uses: ros-tooling/setup-ros@0.7.1
-    - uses: ros-tooling/action-ros-lint@v0.1
-      with:
-        distribution: rolling
-        linter: ${{ matrix.linter }}
-        package-name:
-          controller_interface
-          controller_manager
-          controller_manager_msgs
-          hardware_interface
-          ros2controlcli
-          ros2_control
-          ros2_control_test_assets
-          transmission_interface
-
-  ament_lint_100:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-          linter: [cpplint]
-    steps:
-    - uses: actions/checkout@v4
-    - uses: ros-tooling/setup-ros@0.7.1
-    - uses: ros-tooling/action-ros-lint@v0.1
-      with:
-        distribution: rolling
-        linter: cpplint
-        arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          controller_interface
-          controller_manager
-          controller_manager_msgs
-          hardware_interface
-          ros2controlcli
-          ros2_control
-          ros2_control_test_assets
-          transmission_interface
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
deleted file mode 100644
index f5015d8a90..0000000000
--- a/.github/workflows/docker.yml
+++ /dev/null
@@ -1,94 +0,0 @@
-name: Create and publish a Docker image
-
-on:
-  push:
-    tags: ["*"]
-
-env:
-  REGISTRY: ghcr.io
-  IMAGE_NAME: ${{ github.repository }}
-  ROS_DISTRO: humble
-  BRANCH: master
-
-jobs:
-  build-and-push-release:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      packages: write
-
-    steps:
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Checkout repository
-        uses: actions/checkout@v4
-
-      - name: Log in to the Container registry
-        uses: docker/login-action@v3
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Docker meta
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_release
-          tags: |
-            type=ref,event=branch
-            type=semver,pattern={{version}}
-            type=semver,pattern={{major}}.{{minor}}
-
-      - name: Build and push Docker image
-        uses: docker/build-push-action@v5
-        with:
-          context: .
-          push: true
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          file: .docker/release/Dockerfile
-          build-args: ROS_DISTRO=${{ env.ROS_DISTRO }}
-
-  build-and-push-source:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      packages: write
-
-    steps:
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Checkout repository
-        uses: actions/checkout@v4
-
-      - name: Log in to the Container registry
-        uses: docker/login-action@v3
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Docker meta
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_source
-          tags: |
-            type=ref,event=branch
-            type=semver,pattern={{version}}
-            type=semver,pattern={{major}}.{{minor}}
-
-      - name: Build and push Docker image
-        uses: docker/build-push-action@v5
-        with:
-          context: .
-          push: true
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          file: .docker/source/Dockerfile
-          build-args: |
-            ROS_DISTRO=${{ env.ROS_DISTRO }}
-            BRANCH=${{ env.BRANCH }}
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
deleted file mode 100644
index 708ea5c1f4..0000000000
--- a/.github/workflows/humble-abi-compatibility.yml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: Humble - ABI Compatibility Check
-on:
-  workflow_dispatch:
-    branches:
-      - humble
-  pull_request:
-    branches:
-      - humble
-
-jobs:
-  abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: humble
-          ROS_REPO: main
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build-main.yml
deleted file mode 100644
index a438d7a9e5..0000000000
--- a/.github/workflows/humble-binary-build-main.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Humble Binary Build - main
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - humble
-  pull_request:
-    branches:
-      - humble
-  push:
-    branches:
-      - humble
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: ros2_control-not-released.humble.repos
-      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml
deleted file mode 100644
index 5a61534d4e..0000000000
--- a/.github/workflows/humble-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Humble Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - humble
-  pull_request:
-    branches:
-      - humble
-  push:
-    branches:
-      - humble
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: ros2_control-not-released.humble.repos
-      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
deleted file mode 100644
index 0267849692..0000000000
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ /dev/null
@@ -1,32 +0,0 @@
-name: Humble RHEL Binary Build
-on:
-  workflow_dispatch:
-    branches:
-      - humble
-#  pull_request:
-#    branches:
-#      - humble
-#  push:
-#    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_control
-      - run: |
-          rosdep update
-          rosdep install -iy --from-path src/ros2_control
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
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 539477a302..0000000000
--- a/.github/workflows/humble-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Humble Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - humble
-  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 889822e7f2..0000000000
--- a/.github/workflows/humble-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Humble Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - humble
-  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-source-build.yml b/.github/workflows/humble-source-build.yml
deleted file mode 100644
index ff0fd62e05..0000000000
--- a/.github/workflows/humble-source-build.yml
+++ /dev/null
@@ -1,19 +0,0 @@
-name: Humble Source Build
-on:
-  workflow_dispatch:
-    branches:
-      - humble
-  push:
-    branches:
-      - humble
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
-    with:
-      ros_distro: humble
-      ref: humble
-      ros2_repo_branch: humble
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
deleted file mode 100644
index 20d93f5af1..0000000000
--- a/.github/workflows/iron-abi-compatibility.yml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: Iron - ABI Compatibility Check
-on:
-  workflow_dispatch:
-    branches:
-      - iron
-  pull_request:
-    branches:
-      - iron
-
-jobs:
-  abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: iron
-          ROS_REPO: main
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
diff --git a/.github/workflows/iron-binary-build-main.yml b/.github/workflows/iron-binary-build-main.yml
deleted file mode 100644
index bc2dbd96cc..0000000000
--- a/.github/workflows/iron-binary-build-main.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Iron Binary Build - main
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - iron
-  pull_request:
-    branches:
-      - iron
-  push:
-    branches:
-      - iron
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: iron
-      ros_repo: main
-      upstream_workspace: ros2_control-not-released.iron.repos
-      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-binary-build-testing.yml b/.github/workflows/iron-binary-build-testing.yml
deleted file mode 100644
index 512c4b55e4..0000000000
--- a/.github/workflows/iron-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Iron Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - iron
-  pull_request:
-    branches:
-      - iron
-  push:
-    branches:
-      - iron
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: iron
-      ros_repo: testing
-      upstream_workspace: ros2_control-not-released.iron.repos
-      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
deleted file mode 100644
index 9db28cf987..0000000000
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ /dev/null
@@ -1,32 +0,0 @@
-name: Iron RHEL Binary Build
-on:
-  workflow_dispatch:
-    branches:
-      - iron
-#  pull_request:
-#    branches:
-#      - iron
-#  push:
-#    branches:
-#      - iron
-#  schedule:
-#    # Run every day to detect flakiness and broken dependencies
-#    - cron: '03 1 * * *'
-
-jobs:
-  iron_rhel_binary:
-    name: Iron RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-    container: ghcr.io/ros-controls/ros:iron-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-      - run: |
-          rosdep update
-          rosdep install -iy --from-path src/ros2_control
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
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 1399e8b32b..0000000000
--- a/.github/workflows/iron-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Iron Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - iron
-  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 b29f798931..0000000000
--- a/.github/workflows/iron-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Iron Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - iron
-  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-source-build.yml b/.github/workflows/iron-source-build.yml
deleted file mode 100644
index 1e9d865c49..0000000000
--- a/.github/workflows/iron-source-build.yml
+++ /dev/null
@@ -1,19 +0,0 @@
-name: Iron Source Build
-on:
-  workflow_dispatch:
-    branches:
-      - iron
-  push:
-    branches:
-      - iron
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
-    with:
-      ros_distro: iron
-      ref: iron
-      ros2_repo_branch: iron
diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
deleted file mode 100644
index 182df6e22b..0000000000
--- a/.github/workflows/prerelease-check.yml
+++ /dev/null
@@ -1,37 +0,0 @@
-name: Pre-Release Check
-
-on:
-  workflow_dispatch:
-    inputs:
-      ros_distro:
-        description: 'Chose ROS distribution'
-        required: true
-        default: 'rolling'
-        type: choice
-        options:
-        - humble
-        - iron
-        - rolling
-      branch:
-        description: 'Chose branch for distro'
-        required: true
-        default: 'master'
-        type: choice
-        options:
-        - humble
-        - iron
-        - master
-
-jobs:
-  pre_release:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.inputs.branch }}
-      - name: industrial_ci
-        uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: ${{ github.event.inputs.ros_distro }}
-          PRERELEASE: true
-          BASEDIR: ${{ github.workspace }}/.work
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-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
deleted file mode 100644
index 9845df50e1..0000000000
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ /dev/null
@@ -1,56 +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. Possible values: master (Rolling), humble.'
-        default: 'master'
-        required: false
-        type: string
-
-jobs:
-  reusable_ros_tooling_source_build:
-    name: ${{ inputs.ros_distro }} ubuntu-22.04
-    runs-on: ubuntu-22.04
-    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 }}
-      - uses: ros-tooling/action-ros-ci@0.3.5
-        with:
-          target-ros2-distro: ${{ inputs.ros_distro }}
-          # build all packages listed in the meta package
-          ref: ${{ inputs.ref }} # otherwise the default branch is used for scheduled workflows
-          package-name:
-            controller_interface
-            controller_manager
-            controller_manager_msgs
-            hardware_interface
-            ros2controlcli
-            ros2_control
-            ros2_control_test_assets
-            transmission_interface
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v4.1.0
-        with:
-          name: colcon-logs-ubuntu-22.04
-          path: ros_ws/log
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
deleted file mode 100644
index ed28964e01..0000000000
--- a/.github/workflows/reviewer_lottery.yml
+++ /dev/null
@@ -1,14 +0,0 @@
-name: Reviewer lottery
-on:
-  pull_request_target:
-    types: [opened, ready_for_review, reopened]
-
-jobs:
-  test:
-    runs-on: ubuntu-latest
-    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
-    steps:
-    - uses: actions/checkout@v4
-    - uses: uesteibar/reviewer-lottery@v3
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-binary-build-main.yml b/.github/workflows/rolling-binary-build-main.yml
deleted file mode 100644
index 05a9b9c0b2..0000000000
--- a/.github/workflows/rolling-binary-build-main.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Rolling Binary Build - main
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: main
-      upstream_workspace: ros2_control-not-released.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build-testing.yml b/.github/workflows/rolling-binary-build-testing.yml
deleted file mode 100644
index 811c96fce4..0000000000
--- a/.github/workflows/rolling-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Rolling Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: testing
-      upstream_workspace: ros2_control-not-released.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
deleted file mode 100644
index 0768fbfd68..0000000000
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ /dev/null
@@ -1,28 +0,0 @@
-name: Rolling RHEL Binary Build
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-
-jobs:
-  rolling_rhel_binary:
-    name: Rolling RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: ghcr.io/ros-controls/ros:rolling-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-      - run: |
-          rosdep update
-          rosdep install -iy --from-path src/ros2_control
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
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 4ddfcf5057..0000000000
--- a/.github/workflows/rolling-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Rolling Semi-Binary Build - testing
-# 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: testing
-      upstream_workspace: ros2_control.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
deleted file mode 100644
index b96ad0298e..0000000000
--- a/.github/workflows/rolling-source-build.yml
+++ /dev/null
@@ -1,19 +0,0 @@
-name: Rolling Source Build
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
-    with:
-      ros_distro: rolling
-      ref: master
-      ros2_repo_branch: master

From c15cb493fa824a6c722ffad6915ee0ed2ad8d01e Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 17 Jan 2024 19:28:09 +0000
Subject: [PATCH 03/15] Rename builds

---
 .github/workflows/rolling-debian-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index e493cb587a..fa33261920 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,4 +1,4 @@
-name: Rolling debian Binary Build
+name: Rolling debian Build
 on:
   workflow_dispatch:
   push:
@@ -13,7 +13,7 @@ on:
 
 
 jobs:
-  rolling_debian_binary:
+  rolling_debian:
     name: Rolling debian build
     runs-on: ubuntu-latest
     env:

From 9bcbfffb8c681a41129847dd1916aaee64b48b2b Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 17 Jan 2024 19:33:40 +0000
Subject: [PATCH 04/15] Explicitly run in bash

---
 .github/workflows/rolling-debian-build.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index fa33261920..958faf27d8 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -23,7 +23,9 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - run: |
+      - name: Build and test
+        shell: bash
+        run: |
           source /opt/ros2_ws/install/setup.bash
           vcs import src < https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon build --packages-skip rqt_controller_manager

From 14a684ea6b69e7a3d46c57ce26f5202385ad4f44 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 17 Jan 2024 19:40:59 +0000
Subject: [PATCH 05/15] Fix vcs command

---
 .github/workflows/rolling-debian-build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 958faf27d8..5467ab6e9a 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -27,6 +27,6 @@ jobs:
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
-          vcs import src < https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager

From 7536e45959fa67ec83d80cbfbf57b06c0c27faa0 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 17 Jan 2024 21:05:57 +0000
Subject: [PATCH 06/15] Skip some packages from build/test

---
 .github/workflows/rolling-debian-build.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 5467ab6e9a..0ad56cdbc8 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -29,4 +29,5 @@ jobs:
           source /opt/ros2_ws/install/setup.bash
           vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test-result

From 707ab6794c67bb543477e23a0e0b209eb169f67e Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 17 Jan 2024 21:33:10 +0000
Subject: [PATCH 07/15] Add humble and iron

---
 .github/workflows/humble-debian-build.yml | 33 +++++++++++++++++++++++
 .github/workflows/iron-debian-build.yml   | 33 +++++++++++++++++++++++
 2 files changed, 66 insertions(+)
 create mode 100644 .github/workflows/humble-debian-build.yml
 create mode 100644 .github/workflows/iron-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..0c49493f7a
--- /dev/null
+++ b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,33 @@
+name: Humble debian Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  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/christophfroehlich/ros:humble-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test-result
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
new file mode 100644
index 0000000000..49c836718b
--- /dev/null
+++ b/.github/workflows/iron-debian-build.yml
@@ -0,0 +1,33 @@
+name: Iron debian Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - iron
+  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/christophfroehlich/ros:iron-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test-result

From 471ff1858097aba2f13ef499f5bf863f7212459b Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 18 Jan 2024 08:16:54 +0000
Subject: [PATCH 08/15] Don't test msg packages on debian11

---
 .github/workflows/humble-debian-build.yml | 2 +-
 .github/workflows/iron-debian-build.yml   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 0c49493f7a..24b6bac0ad 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -29,5 +29,5 @@ jobs:
           source /opt/ros2_ws/install/setup.bash
           vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test --packages-skip rqt_controller_manager control_msgs ros2controlcli controller_manager_msgs
           colcon test-result
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index 49c836718b..f7d3d38ecc 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -29,5 +29,5 @@ jobs:
           source /opt/ros2_ws/install/setup.bash
           vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test --packages-skip rqt_controller_manager control_msgs ros2controlcli controller_manager_msgs
           colcon test-result

From 2ae93ce2454b3a1eafef8e9fe29fb89aaa26d869 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 18 Jan 2024 09:30:25 +0000
Subject: [PATCH 09/15] Revert "temporary remove all jobs"

This reverts commit b4bb0b38938824232175791f1aa7656e8fa316bc.
---
 .github/workflows/ci-check-docs.yml           | 12 +++
 .github/workflows/ci-coverage-build.yml       | 52 ++++++++++
 .github/workflows/ci-format.yml               | 23 +++++
 .github/workflows/ci-ros-lint.yml             | 55 +++++++++++
 .github/workflows/docker.yml                  | 94 ++++++++++++++++++
 .../workflows/humble-abi-compatibility.yml    | 20 ++++
 .../workflows/humble-binary-build-main.yml    | 26 +++++
 .../workflows/humble-binary-build-testing.yml | 26 +++++
 .../workflows/humble-rhel-binary-build.yml    | 32 +++++++
 .../humble-semi-binary-build-main.yml         | 25 +++++
 .../humble-semi-binary-build-testing.yml      | 25 +++++
 .github/workflows/humble-source-build.yml     | 19 ++++
 .github/workflows/iron-abi-compatibility.yml  | 20 ++++
 .github/workflows/iron-binary-build-main.yml  | 26 +++++
 .../workflows/iron-binary-build-testing.yml   | 26 +++++
 .github/workflows/iron-rhel-binary-build.yml  | 32 +++++++
 .../workflows/iron-semi-binary-build-main.yml | 25 +++++
 .../iron-semi-binary-build-testing.yml        | 25 +++++
 .github/workflows/iron-source-build.yml       | 19 ++++
 .github/workflows/prerelease-check.yml        | 37 +++++++
 .../reusable-industrial-ci-with-cache.yml     | 96 +++++++++++++++++++
 .../reusable-ros-tooling-source-build.yml     | 56 +++++++++++
 .github/workflows/reviewer_lottery.yml        | 14 +++
 .../workflows/rolling-binary-build-main.yml   | 26 +++++
 .../rolling-binary-build-testing.yml          | 26 +++++
 .../workflows/rolling-rhel-binary-build.yml   | 28 ++++++
 .../rolling-semi-binary-build-main.yml        | 25 +++++
 .../rolling-semi-binary-build-testing.yml     | 25 +++++
 .github/workflows/rolling-source-build.yml    | 19 ++++
 29 files changed, 934 insertions(+)
 create mode 100644 .github/workflows/ci-check-docs.yml
 create mode 100644 .github/workflows/ci-coverage-build.yml
 create mode 100644 .github/workflows/ci-format.yml
 create mode 100644 .github/workflows/ci-ros-lint.yml
 create mode 100644 .github/workflows/docker.yml
 create mode 100644 .github/workflows/humble-abi-compatibility.yml
 create mode 100644 .github/workflows/humble-binary-build-main.yml
 create mode 100644 .github/workflows/humble-binary-build-testing.yml
 create mode 100644 .github/workflows/humble-rhel-binary-build.yml
 create mode 100644 .github/workflows/humble-semi-binary-build-main.yml
 create mode 100644 .github/workflows/humble-semi-binary-build-testing.yml
 create mode 100644 .github/workflows/humble-source-build.yml
 create mode 100644 .github/workflows/iron-abi-compatibility.yml
 create mode 100644 .github/workflows/iron-binary-build-main.yml
 create mode 100644 .github/workflows/iron-binary-build-testing.yml
 create mode 100644 .github/workflows/iron-rhel-binary-build.yml
 create mode 100644 .github/workflows/iron-semi-binary-build-main.yml
 create mode 100644 .github/workflows/iron-semi-binary-build-testing.yml
 create mode 100644 .github/workflows/iron-source-build.yml
 create mode 100644 .github/workflows/prerelease-check.yml
 create mode 100644 .github/workflows/reusable-industrial-ci-with-cache.yml
 create mode 100644 .github/workflows/reusable-ros-tooling-source-build.yml
 create mode 100644 .github/workflows/reviewer_lottery.yml
 create mode 100644 .github/workflows/rolling-binary-build-main.yml
 create mode 100644 .github/workflows/rolling-binary-build-testing.yml
 create mode 100644 .github/workflows/rolling-rhel-binary-build.yml
 create mode 100644 .github/workflows/rolling-semi-binary-build-main.yml
 create mode 100644 .github/workflows/rolling-semi-binary-build-testing.yml
 create mode 100644 .github/workflows/rolling-source-build.yml

diff --git a/.github/workflows/ci-check-docs.yml b/.github/workflows/ci-check-docs.yml
new file mode 100644
index 0000000000..90a822aa72
--- /dev/null
+++ b/.github/workflows/ci-check-docs.yml
@@ -0,0 +1,12 @@
+name: Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@master
+    with:
+      ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
new file mode 100644
index 0000000000..6edb1707b1
--- /dev/null
+++ b/.github/workflows/ci-coverage-build.yml
@@ -0,0 +1,52 @@
+name: Coverage Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  coverage:
+    name: coverage build
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: rolling
+    steps:
+      - uses: ros-tooling/setup-ros@0.7.1
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/action-ros-ci@0.3.5
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          # build all packages listed in the meta package
+          package-name:
+            controller_interface
+            controller_manager
+            hardware_interface
+            transmission_interface
+
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/codecov-action@v3.1.4
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/upload-artifact@v4.1.0
+        with:
+          name: colcon-logs-ubuntu-22.04-coverage-rolling
+          path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
new file mode 100644
index 0000000000..c7199b88c5
--- /dev/null
+++ b/.github/workflows/ci-format.yml
@@ -0,0 +1,23 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5.0.0
+      with:
+        python-version: '3.10'
+    - name: Install system hooks
+      run: sudo apt install -qq cppcheck
+    - uses: pre-commit/action@v3.0.0
+      with:
+        extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
new file mode 100644
index 0000000000..84c68217f3
--- /dev/null
+++ b/.github/workflows/ci-ros-lint.yml
@@ -0,0 +1,55 @@
+name: ROS Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, copyright, lint_cmake]
+    env:
+      AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
+    steps:
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@0.7.1
+    - uses: ros-tooling/action-ros-lint@v0.1
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        package-name:
+          controller_interface
+          controller_manager
+          controller_manager_msgs
+          hardware_interface
+          ros2controlcli
+          ros2_control
+          ros2_control_test_assets
+          transmission_interface
+
+  ament_lint_100:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cpplint]
+    steps:
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@0.7.1
+    - uses: ros-tooling/action-ros-lint@v0.1
+      with:
+        distribution: rolling
+        linter: cpplint
+        arguments: "--linelength=100 --filter=-whitespace/newline"
+        package-name:
+          controller_interface
+          controller_manager
+          controller_manager_msgs
+          hardware_interface
+          ros2controlcli
+          ros2_control
+          ros2_control_test_assets
+          transmission_interface
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 0000000000..f5015d8a90
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,94 @@
+name: Create and publish a Docker image
+
+on:
+  push:
+    tags: ["*"]
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+  ROS_DISTRO: humble
+  BRANCH: master
+
+jobs:
+  build-and-push-release:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_release
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          file: .docker/release/Dockerfile
+          build-args: ROS_DISTRO=${{ env.ROS_DISTRO }}
+
+  build-and-push-source:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_source
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          file: .docker/source/Dockerfile
+          build-args: |
+            ROS_DISTRO=${{ env.ROS_DISTRO }}
+            BRANCH=${{ env.BRANCH }}
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
new file mode 100644
index 0000000000..708ea5c1f4
--- /dev/null
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -0,0 +1,20 @@
+name: Humble - ABI Compatibility Check
+on:
+  workflow_dispatch:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: humble
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build-main.yml
new file mode 100644
index 0000000000..a438d7a9e5
--- /dev/null
+++ b/.github/workflows/humble-binary-build-main.yml
@@ -0,0 +1,26 @@
+name: Humble Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: main
+      upstream_workspace: ros2_control-not-released.humble.repos
+      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml
new file mode 100644
index 0000000000..5a61534d4e
--- /dev/null
+++ b/.github/workflows/humble-binary-build-testing.yml
@@ -0,0 +1,26 @@
+name: Humble Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_control-not-released.humble.repos
+      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
new file mode 100644
index 0000000000..0267849692
--- /dev/null
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -0,0 +1,32 @@
+name: Humble RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - humble
+#  pull_request:
+#    branches:
+#      - humble
+#  push:
+#    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_control
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_control
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
new file mode 100644
index 0000000000..539477a302
--- /dev/null
+++ b/.github/workflows/humble-semi-binary-build-main.yml
@@ -0,0 +1,25 @@
+name: Humble Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - humble
+  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
new file mode 100644
index 0000000000..889822e7f2
--- /dev/null
+++ b/.github/workflows/humble-semi-binary-build-testing.yml
@@ -0,0 +1,25 @@
+name: Humble Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - humble
+  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-source-build.yml b/.github/workflows/humble-source-build.yml
new file mode 100644
index 0000000000..ff0fd62e05
--- /dev/null
+++ b/.github/workflows/humble-source-build.yml
@@ -0,0 +1,19 @@
+name: Humble Source Build
+on:
+  workflow_dispatch:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: humble
+      ref: humble
+      ros2_repo_branch: humble
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
new file mode 100644
index 0000000000..20d93f5af1
--- /dev/null
+++ b/.github/workflows/iron-abi-compatibility.yml
@@ -0,0 +1,20 @@
+name: Iron - ABI Compatibility Check
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: iron
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/iron-binary-build-main.yml b/.github/workflows/iron-binary-build-main.yml
new file mode 100644
index 0000000000..bc2dbd96cc
--- /dev/null
+++ b/.github/workflows/iron-binary-build-main.yml
@@ -0,0 +1,26 @@
+name: Iron Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: main
+      upstream_workspace: ros2_control-not-released.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-binary-build-testing.yml b/.github/workflows/iron-binary-build-testing.yml
new file mode 100644
index 0000000000..512c4b55e4
--- /dev/null
+++ b/.github/workflows/iron-binary-build-testing.yml
@@ -0,0 +1,26 @@
+name: Iron Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: testing
+      upstream_workspace: ros2_control-not-released.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
new file mode 100644
index 0000000000..9db28cf987
--- /dev/null
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -0,0 +1,32 @@
+name: Iron RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+#  pull_request:
+#    branches:
+#      - iron
+#  push:
+#    branches:
+#      - iron
+#  schedule:
+#    # Run every day to detect flakiness and broken dependencies
+#    - cron: '03 1 * * *'
+
+jobs:
+  iron_rhel_binary:
+    name: Iron RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-rhel
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_control
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test
diff --git a/.github/workflows/iron-semi-binary-build-main.yml b/.github/workflows/iron-semi-binary-build-main.yml
new file mode 100644
index 0000000000..1399e8b32b
--- /dev/null
+++ b/.github/workflows/iron-semi-binary-build-main.yml
@@ -0,0 +1,25 @@
+name: Iron Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  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
new file mode 100644
index 0000000000..b29f798931
--- /dev/null
+++ b/.github/workflows/iron-semi-binary-build-testing.yml
@@ -0,0 +1,25 @@
+name: Iron Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  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-source-build.yml b/.github/workflows/iron-source-build.yml
new file mode 100644
index 0000000000..1e9d865c49
--- /dev/null
+++ b/.github/workflows/iron-source-build.yml
@@ -0,0 +1,19 @@
+name: Iron Source Build
+on:
+  workflow_dispatch:
+    branches:
+      - iron
+  push:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: iron
+      ref: iron
+      ros2_repo_branch: iron
diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
new file mode 100644
index 0000000000..182df6e22b
--- /dev/null
+++ b/.github/workflows/prerelease-check.yml
@@ -0,0 +1,37 @@
+name: Pre-Release Check
+
+on:
+  workflow_dispatch:
+    inputs:
+      ros_distro:
+        description: 'Chose ROS distribution'
+        required: true
+        default: 'rolling'
+        type: choice
+        options:
+        - humble
+        - iron
+        - rolling
+      branch:
+        description: 'Chose branch for distro'
+        required: true
+        default: 'master'
+        type: choice
+        options:
+        - humble
+        - iron
+        - master
+
+jobs:
+  pre_release:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.inputs.branch }}
+      - name: industrial_ci
+        uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: ${{ github.event.inputs.ros_distro }}
+          PRERELEASE: true
+          BASEDIR: ${{ github.workspace }}/.work
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
new file mode 100644
index 0000000000..acefeebfac
--- /dev/null
+++ b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -0,0 +1,96 @@
+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-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
new file mode 100644
index 0000000000..9845df50e1
--- /dev/null
+++ b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -0,0 +1,56 @@
+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. Possible values: master (Rolling), humble.'
+        default: 'master'
+        required: false
+        type: string
+
+jobs:
+  reusable_ros_tooling_source_build:
+    name: ${{ inputs.ros_distro }} ubuntu-22.04
+    runs-on: ubuntu-22.04
+    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 }}
+      - uses: ros-tooling/action-ros-ci@0.3.5
+        with:
+          target-ros2-distro: ${{ inputs.ros_distro }}
+          # build all packages listed in the meta package
+          ref: ${{ inputs.ref }} # otherwise the default branch is used for scheduled workflows
+          package-name:
+            controller_interface
+            controller_manager
+            controller_manager_msgs
+            hardware_interface
+            ros2controlcli
+            ros2_control
+            ros2_control_test_assets
+            transmission_interface
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: actions/upload-artifact@v4.1.0
+        with:
+          name: colcon-logs-ubuntu-22.04
+          path: ros_ws/log
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
new file mode 100644
index 0000000000..ed28964e01
--- /dev/null
+++ b/.github/workflows/reviewer_lottery.yml
@@ -0,0 +1,14 @@
+name: Reviewer lottery
+on:
+  pull_request_target:
+    types: [opened, ready_for_review, reopened]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
+    steps:
+    - uses: actions/checkout@v4
+    - uses: uesteibar/reviewer-lottery@v3
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-binary-build-main.yml b/.github/workflows/rolling-binary-build-main.yml
new file mode 100644
index 0000000000..05a9b9c0b2
--- /dev/null
+++ b/.github/workflows/rolling-binary-build-main.yml
@@ -0,0 +1,26 @@
+name: Rolling Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: rolling
+      ros_repo: main
+      upstream_workspace: ros2_control-not-released.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build-testing.yml b/.github/workflows/rolling-binary-build-testing.yml
new file mode 100644
index 0000000000..811c96fce4
--- /dev/null
+++ b/.github/workflows/rolling-binary-build-testing.yml
@@ -0,0 +1,26 @@
+name: Rolling Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: rolling
+      ros_repo: testing
+      upstream_workspace: ros2_control-not-released.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
new file mode 100644
index 0000000000..0768fbfd68
--- /dev/null
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -0,0 +1,28 @@
+name: Rolling RHEL Binary Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  rolling_rhel_binary:
+    name: Rolling RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: rolling
+    container: ghcr.io/ros-controls/ros:rolling-rhel
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_control
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test
diff --git a/.github/workflows/rolling-semi-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build-main.yml
new file mode 100644
index 0000000000..1033dd1e6c
--- /dev/null
+++ b/.github/workflows/rolling-semi-binary-build-main.yml
@@ -0,0 +1,25 @@
+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
new file mode 100644
index 0000000000..4ddfcf5057
--- /dev/null
+++ b/.github/workflows/rolling-semi-binary-build-testing.yml
@@ -0,0 +1,25 @@
+name: Rolling Semi-Binary Build - testing
+# 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: testing
+      upstream_workspace: ros2_control.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
new file mode 100644
index 0000000000..b96ad0298e
--- /dev/null
+++ b/.github/workflows/rolling-source-build.yml
@@ -0,0 +1,19 @@
+name: Rolling Source Build
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    with:
+      ros_distro: rolling
+      ref: master
+      ros2_repo_branch: master

From c2d6811899f207ff7e474af7222b121a2f7992e2 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 19 Jan 2024 20:19:54 +0000
Subject: [PATCH 10/15] Add --verbose option

---
 .github/workflows/humble-debian-build.yml  | 2 +-
 .github/workflows/iron-debian-build.yml    | 2 +-
 .github/workflows/rolling-debian-build.yml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 24b6bac0ad..e79a8c938a 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -30,4 +30,4 @@ jobs:
           vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager control_msgs ros2controlcli controller_manager_msgs
-          colcon test-result
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index f7d3d38ecc..ae78652299 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -30,4 +30,4 @@ jobs:
           vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager control_msgs ros2controlcli controller_manager_msgs
-          colcon test-result
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 0ad56cdbc8..18be45d262 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -30,4 +30,4 @@ jobs:
           vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager ros2controlcli
-          colcon test-result
+          colcon test-result --verbose

From 5ccd03d76e6ae15902e2fd5b4ed916d3deaefb37 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 19 Jan 2024 20:47:09 +0000
Subject: [PATCH 11/15] Test ros2controlcli

---
 .github/workflows/humble-debian-build.yml  | 2 +-
 .github/workflows/iron-debian-build.yml    | 2 +-
 .github/workflows/rolling-debian-build.yml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index e79a8c938a..435ab2c4d9 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -29,5 +29,5 @@ jobs:
           source /opt/ros2_ws/install/setup.bash
           vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager control_msgs ros2controlcli controller_manager_msgs
+          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
           colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index ae78652299..cb6eeeda82 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -29,5 +29,5 @@ jobs:
           source /opt/ros2_ws/install/setup.bash
           vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager control_msgs ros2controlcli controller_manager_msgs
+          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
           colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 18be45d262..17dd7417a4 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -29,5 +29,5 @@ jobs:
           source /opt/ros2_ws/install/setup.bash
           vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
           colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test --packages-skip rqt_controller_manager
           colcon test-result --verbose

From 17935c85d6a5449442f3d4039ee3063244326d40 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sat, 20 Jan 2024 20:09:52 +0100
Subject: [PATCH 12/15] Don't run on pushes

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
---
 .github/workflows/humble-debian-build.yml | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 435ab2c4d9..5d599e9e93 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -1,9 +1,6 @@
 name: Humble debian Build
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble

From da19c808ad122f22cdedb12b2fa45d83fa5bb8bb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Sat, 20 Jan 2024 20:10:25 +0100
Subject: [PATCH 13/15] Rename workflow

Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
---
 .github/workflows/humble-debian-build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 5d599e9e93..a040ae29d9 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -1,4 +1,4 @@
-name: Humble debian Build
+name: Debian Humble Build
 on:
   workflow_dispatch:
   pull_request:

From 88bb79477c38717435ebd030a23db1cf089b09fa Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sun, 21 Jan 2024 18:23:28 +0000
Subject: [PATCH 14/15] Rename wf and don't run on pushes

---
 .github/workflows/humble-debian-build.yml  | 3 ---
 .github/workflows/iron-debian-build.yml    | 5 +----
 .github/workflows/rolling-debian-build.yml | 5 +----
 3 files changed, 2 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index a040ae29d9..b0a6c0cc52 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -1,9 +1,6 @@
 name: Debian Humble Build
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - humble
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index cb6eeeda82..0d962cf1c6 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -1,9 +1,6 @@
-name: Iron debian Build
+name: Debian Iron Build
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - iron
   pull_request:
     branches:
       - iron
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 17dd7417a4..42e77815e2 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,9 +1,6 @@
-name: Rolling debian Build
+name: Debian Rolling Build
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - master
   pull_request:
     branches:
       - master

From 1198366bad65beb87ce28de6c29456b7a402f44c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sun, 21 Jan 2024 18:27:24 +0000
Subject: [PATCH 15/15] Use local repos file

---
 .github/workflows/humble-debian-build.yml  | 2 +-
 .github/workflows/iron-debian-build.yml    | 2 +-
 .github/workflows/rolling-debian-build.yml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index b0a6c0cc52..8206528fb4 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -21,7 +21,7 @@ jobs:
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
-          vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
+          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
           colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index 0d962cf1c6..57dc7f578f 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -24,7 +24,7 @@ jobs:
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
-          vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
+          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
           colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 42e77815e2..a86c287d95 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -24,7 +24,7 @@ jobs:
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
-          vcs import --input https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }} src
+          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
           colcon build --packages-skip rqt_controller_manager
           colcon test --packages-skip rqt_controller_manager
           colcon test-result --verbose