From 4b076378d90b98b144b2637a832f8d7b23b07267 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 22 Nov 2025 20:21:36 +0000
Subject: [PATCH 1/2] Copy over CI from RSL repo

---
 .github/workflows/ci.yaml | 114 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 114 insertions(+)
 create mode 100644 .github/workflows/ci.yaml

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..406af8f
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,114 @@
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  cmake:
+    name: cmake (${{ matrix.ros_distro }}, ${{ matrix.preset }}, ${{ matrix.compiler.name }})
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [humble, jazzy, kilted, rolling]
+        preset: [debug, release, asan, codecov]
+        compiler:
+        - { name: GCC }
+        - { name: Clang, flags: -DCMAKE_CXX_COMPILER=clang++ }
+        exclude:
+        - preset: codecov
+          compiler: { name: Clang }
+        - preset: codecov
+          ros_distro: humble
+        - preset: codecov
+          ros_distro: jazzy
+        - preset: codecov
+          ros_distro: kilted
+    runs-on: ubuntu-latest
+    container: ghcr.io/ros-controls/ros:${{ matrix.ros_distro }}-ubuntu
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+    steps:
+      - name: Check out the repo
+        uses: actions/checkout@v4
+      - name: Cache ccache
+        uses: actions/cache@v4
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}-${{ github.sha }}
+            ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}
+      - name: Install system dependencies
+        run: |
+          sudo apt update
+          sudo apt install -y lld ccache
+      - name: Source ROS
+        run: |
+          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
+          echo "$(env)" >> $GITHUB_ENV
+      - name: Install ROS dependencies
+        run: |
+          sudo apt update
+          rosdep update
+          rosdep install --from-paths . --ignore-src -r -y
+      - name: Install Clang
+        if: matrix.compiler.name == 'Clang'
+        run: sudo apt update && sudo apt install clang
+      - name: Configure
+        run: cmake --preset ${{ matrix.preset }} ${{ matrix.compiler.flags }} -DCMAKE_INSTALL_PREFIX=install -DCMAKE_VERBOSE_MAKEFILE=ON
+      - name: Build
+        run: cmake --build build/${{ matrix.preset }} --target install
+      - name: Test
+        run: ctest --test-dir build/${{ matrix.preset }} --rerun-failed --output-on-failure
+      - name: Build Doxygen Site
+        run: cmake --build build/${{ matrix.preset }} --target docs
+      - name: Analyze
+        run: cmake --build build/${{ matrix.preset }} --target tidy
+      - name: Generate LCOV report
+        if: ${{ matrix.preset == 'codecov' }}
+        run: lcov -c -d . -o coverage.info --no-external --exclude "*/build/**" --ignore-errors mismatch
+      - uses: codecov/codecov-action@v3
+        if: ${{ matrix.preset == 'codecov' }}
+        with:
+          files: ./coverage.info
+          name: codecov-umbrella
+          flags: ${{ matrix.ros_distro }}
+
+  ros:
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [humble, jazzy, kilted, rolling]
+    runs-on: ubuntu-latest
+    container: ghcr.io/ros-controls/ros:${{ matrix.ros_distro }}-ubuntu
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+    steps:
+      - name: Check out the repo
+        uses: actions/checkout@v4
+      - name: Cache ccache
+        uses: actions/cache@v4
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-ros-${{ matrix.ros_distro }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-ros-${{ matrix.ros_distro }}-${{ github.sha }}
+            ccache-ros-${{ matrix.ros_distro }}
+      - name: Install dependencies
+        run: |
+          sudo apt update
+          sudo apt install -y lld ccache
+      - uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: rsl
+          target-ros2-distro: ${{ matrix.ros_distro }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["ccache", "lld"]
+              }
+            }

From 1085dfc8ae1ed1254229a84356956c9d60659d68 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 22 Nov 2025 20:25:00 +0000
Subject: [PATCH 2/2] Use that one of ros2-control instead

---
 .github/workflows/ci.yaml                  | 114 ---------------------
 .github/workflows/rolling-binary-build.yml |  40 ++++++++
 2 files changed, 40 insertions(+), 114 deletions(-)
 delete mode 100644 .github/workflows/ci.yaml
 create mode 100644 .github/workflows/rolling-binary-build.yml

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
deleted file mode 100644
index 406af8f..0000000
--- a/.github/workflows/ci.yaml
+++ /dev/null
@@ -1,114 +0,0 @@
-name: CI
-
-on:
-  workflow_dispatch:
-  pull_request:
-  push:
-    branches:
-      - main
-
-jobs:
-  cmake:
-    name: cmake (${{ matrix.ros_distro }}, ${{ matrix.preset }}, ${{ matrix.compiler.name }})
-    strategy:
-      fail-fast: false
-      matrix:
-        ros_distro: [humble, jazzy, kilted, rolling]
-        preset: [debug, release, asan, codecov]
-        compiler:
-        - { name: GCC }
-        - { name: Clang, flags: -DCMAKE_CXX_COMPILER=clang++ }
-        exclude:
-        - preset: codecov
-          compiler: { name: Clang }
-        - preset: codecov
-          ros_distro: humble
-        - preset: codecov
-          ros_distro: jazzy
-        - preset: codecov
-          ros_distro: kilted
-    runs-on: ubuntu-latest
-    container: ghcr.io/ros-controls/ros:${{ matrix.ros_distro }}-ubuntu
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/.ccache
-    steps:
-      - name: Check out the repo
-        uses: actions/checkout@v4
-      - name: Cache ccache
-        uses: actions/cache@v4
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}-${{ github.sha }}
-            ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}
-      - name: Install system dependencies
-        run: |
-          sudo apt update
-          sudo apt install -y lld ccache
-      - name: Source ROS
-        run: |
-          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
-          echo "$(env)" >> $GITHUB_ENV
-      - name: Install ROS dependencies
-        run: |
-          sudo apt update
-          rosdep update
-          rosdep install --from-paths . --ignore-src -r -y
-      - name: Install Clang
-        if: matrix.compiler.name == 'Clang'
-        run: sudo apt update && sudo apt install clang
-      - name: Configure
-        run: cmake --preset ${{ matrix.preset }} ${{ matrix.compiler.flags }} -DCMAKE_INSTALL_PREFIX=install -DCMAKE_VERBOSE_MAKEFILE=ON
-      - name: Build
-        run: cmake --build build/${{ matrix.preset }} --target install
-      - name: Test
-        run: ctest --test-dir build/${{ matrix.preset }} --rerun-failed --output-on-failure
-      - name: Build Doxygen Site
-        run: cmake --build build/${{ matrix.preset }} --target docs
-      - name: Analyze
-        run: cmake --build build/${{ matrix.preset }} --target tidy
-      - name: Generate LCOV report
-        if: ${{ matrix.preset == 'codecov' }}
-        run: lcov -c -d . -o coverage.info --no-external --exclude "*/build/**" --ignore-errors mismatch
-      - uses: codecov/codecov-action@v3
-        if: ${{ matrix.preset == 'codecov' }}
-        with:
-          files: ./coverage.info
-          name: codecov-umbrella
-          flags: ${{ matrix.ros_distro }}
-
-  ros:
-    strategy:
-      fail-fast: false
-      matrix:
-        ros_distro: [humble, jazzy, kilted, rolling]
-    runs-on: ubuntu-latest
-    container: ghcr.io/ros-controls/ros:${{ matrix.ros_distro }}-ubuntu
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/.ccache
-    steps:
-      - name: Check out the repo
-        uses: actions/checkout@v4
-      - name: Cache ccache
-        uses: actions/cache@v4
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-ros-${{ matrix.ros_distro }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-ros-${{ matrix.ros_distro }}-${{ github.sha }}
-            ccache-ros-${{ matrix.ros_distro }}
-      - name: Install dependencies
-        run: |
-          sudo apt update
-          sudo apt install -y lld ccache
-      - uses: ros-tooling/action-ros-ci@0.4.5
-        with:
-          package-name: rsl
-          target-ros2-distro: ${{ matrix.ros_distro }}
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["ccache", "lld"]
-              }
-            }
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
new file mode 100644
index 0000000..a8112e1
--- /dev/null
+++ b/.github/workflows/rolling-binary-build.yml
@@ -0,0 +1,40 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Rolling - Binary Build
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * MON-FRI'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
+jobs:
+  binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, jazzy, kilted, rolling]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      ref_for_scheduled_build: master
+  binary_clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: rolling
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true