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Add CI setup as for ros2_control repository.
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‎.clang-format

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---
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Language: Cpp
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BasedOnStyle: Google
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AccessModifierOffset: -2
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AlignAfterOpenBracket: AlwaysBreak
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BreakBeforeBraces: Custom
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BraceWrapping:
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AfterClass: true
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AfterFunction: true
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AfterNamespace: true
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AfterStruct: true
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ColumnLimit: 100
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ConstructorInitializerIndentWidth: 0
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ContinuationIndentWidth: 2
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DerivePointerAlignment: false
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PointerAlignment: Middle
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ReflowComments: false
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IncludeBlocks: Preserve
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...

‎.github/workflows/README.md

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## Build status
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ROS2 Distro | Branch | Build status | Documentation | Released packages
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:---------: | :----: | :----------: | :-----------: | :---------------:
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**Rolling** | [`rolling`](https://github.com/ros-controls/realtime_tools/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build-testing.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-semi-binary-build-testing.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml?branch=master) | | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
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**Humble** | [`humble`](https://github.com/ros-controls/realtime_tools/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build-testing.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-semi-binary-build-testing.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml?branch=master) | | [realtime_tools](https://index.ros.org/p/realtime_tools/#humble)
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**Galacitc** | [`galacitc`](https://github.com/ros-controls/realtime_tools/tree/galacitc) | [![Galacitc Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/galacitc-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/galacitc-binary-build-main.yml?branch=master) <br /> [![Galacitc Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/galacitc-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/galacitc-binary-build-testing.yml?branch=master) <br /> [![Galacitc Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/galacitc-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/galacitc-semi-binary-build-main.yml?branch=master) <br /> [![Galacitc Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/galacitc-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/galacitc-semi-binary-build-testing.yml?branch=master) <br /> | | [realtime_tools](https://index.ros.org/p/realtime_tools/#galacitc)
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### Explanation of different build types
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**NOTE**: There are three build stages checking current and future compatibility of the package.
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[Detailed build status](.github/workflows/README.md)
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1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
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Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
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1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
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Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
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Uses repos file: `$NAME$.repos`
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1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.

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

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name: Coverage Build
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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jobs:
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coverage:
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name: coverage build
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runs-on: ubuntu-22.04
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strategy:
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fail-fast: false
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env:
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ROS_DISTRO: rolling
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steps:
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: ${{ env.ROS_DISTRO }}
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- uses: actions/checkout@v3
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- uses: ros-tooling/[email protected]
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with:
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target-ros2-distro: ${{ env.ROS_DISTRO }}
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import-token: ${{ secrets.GITHUB_TOKEN }}
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# build all packages listed in the meta package
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package-name:
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realtime_tools
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/realtime_tools-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
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colcon-defaults: |
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{
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"build": {
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"mixin": ["coverage-gcc"]
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}
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}
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colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
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- uses: codecov/[email protected]
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with:
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file: ros_ws/lcov/total_coverage.info
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flags: unittests
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name: codecov-umbrella
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- uses: actions/[email protected]
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with:
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name: colcon-logs-coverage-rolling
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path: ros_ws/log

‎.github/workflows/ci-format.yml

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# This is a format job. Pre-commit has a first-party GitHub action, so we use
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# that: https://github.com/pre-commit/action
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name: Format
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on:
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workflow_dispatch:
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pull_request:
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jobs:
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pre-commit:
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name: Format
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: actions/setup-python@v2
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with:
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python-version: 3.9.7
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- name: Install system hooks
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run: sudo apt install -qq clang-format-12 cppcheck
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- uses: pre-commit/[email protected]
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with:
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extra_args: --all-files --hook-stage manual

‎.github/workflows/ci-ros-lint.yml

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name: ROS Lint
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on:
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pull_request:
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jobs:
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ament_lint:
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name: ament_${{ matrix.linter }}
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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matrix:
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linter: [cppcheck, copyright, lint_cmake]
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steps:
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- uses: actions/checkout@v3
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- uses: ros-tooling/[email protected]
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- uses: ros-tooling/[email protected]
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with:
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distribution: rolling
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linter: ${{ matrix.linter }}
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package-name:
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ament_lint_100:
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name: ament_${{ matrix.linter }}
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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matrix:
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linter: [cpplint]
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steps:
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- uses: actions/checkout@v3
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- uses: ros-tooling/[email protected]
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- uses: ros-tooling/[email protected]
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with:
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distribution: rolling
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linter: cpplint
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arguments: "--linelength=100 --filter=-whitespace/newline"
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package-name:
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realtime_tools

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

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name: Galacitc - ABI Compatibility Check
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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jobs:
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abi_check:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: ros-industrial/industrial_ci@master
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env:
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ROS_DISTRO: galacitc
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ROS_REPO: main
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ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
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NOT_TEST_BUILD: true

‎.github/workflows/galacitc-binary-build-main.yml

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name: Galacitc Binary Build - main
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# author: Denis Štogl <[email protected]>
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# description: 'Build & test all dependencies from released (binary) packages.'
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '03 1 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: galacitc
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ros_repo: main
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upstream_workspace: realtime_tools-not-released.galacitc.repos
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ref_for_scheduled_build: master
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secrets:
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SCH_COMMON_KEY: ${{ secrets.SCH_COMMON_KEY }}

‎.github/workflows/galacitc-binary-build-testing.yml

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name: Galacitc Binary Build - testing
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# author: Denis Štogl <[email protected]>
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# description: 'Build & test all dependencies from released (binary) packages.'
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '03 1 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: galacitc
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ros_repo: testing
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upstream_workspace: realtime_tools-not-released.galacitc.repos
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ref_for_scheduled_build: master
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secrets:
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SCH_COMMON_KEY: ${{ secrets.SCH_COMMON_KEY }}

‎.github/workflows/galacitc-rhel-binary-build.yml

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name: Galacitc RHEL Binary Build
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every day to detect flakiness and broken dependencies
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- cron: '03 1 * * *'
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jobs:
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galacitc_rhel_binary:
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name: Galacitc RHEL binary build
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runs-on: ubuntu-latest
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env:
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ROS_DISTRO: galacitc
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container: jaronl/ros:galacitc-alma
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steps:
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- uses: actions/checkout@v3
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with:
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path: src/realtime_tools
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- run: |
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rosdep update
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rosdep install -iy --from-path src/realtime_tools
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source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
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colcon build
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colcon test

‎.github/workflows/galacitc-semi-binary-build-main.yml

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name: Galacitc Semi-Binary Build - main
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# description: 'Build & test that compiles the main dependencies from source.'
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '33 1 * * *'
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jobs:
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semi_binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: galacitc
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ros_repo: main
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upstream_workspace: realtime_tools.galacitc.repos
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ref_for_scheduled_build: master
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secrets:
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SCH_COMMON_KEY: ${{ secrets.SCH_COMMON_KEY }}

‎.github/workflows/galacitc-semi-binary-build-testing.yml

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name: Galacitc Semi-Binary Build - testing
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# description: 'Build & test that compiles the main dependencies from source.'
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '33 1 * * *'
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jobs:
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semi_binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: galacitc
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ros_repo: testing
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upstream_workspace: realtime_tools.galacitc.repos
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ref_for_scheduled_build: master
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secrets:
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SCH_COMMON_KEY: ${{ secrets.SCH_COMMON_KEY }}

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

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name: Humble - ABI Compatibility Check
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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jobs:
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abi_check:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: ros-industrial/industrial_ci@master
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env:
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ROS_DISTRO: humble
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ROS_REPO: main
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ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
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NOT_TEST_BUILD: true

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

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name: Humble Binary Build - main
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# author: Denis Štogl <[email protected]>
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# description: 'Build & test all dependencies from released (binary) packages.'
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '03 1 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
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with:
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ros_distro: humble
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ros_repo: main
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upstream_workspace: realtime_tools-not-released.humble.repos
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ref_for_scheduled_build: master
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secrets:
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SCH_COMMON_KEY: ${{ secrets.SCH_COMMON_KEY }}

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