Refactor code to fns and pre allocate the vectors to eliminate malloc overhead #1317

	name: Rolling - pre-release
	# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>

	on:
	workflow_dispatch:
	inputs:
	downstream_depth:
	description: 'The depth of the depends-on tree to be included in the overlay workspace (-1 implies unlimited, default: 0)'
	required: false
	default: 0
	type: number
	pull_request:
	branches:
	- master
	types:
	- opened # default
	- reopened # default
	- synchronize # default
	- labeled # also if a label changes

	jobs:
	default:
	strategy:
	fail-fast: false
	matrix:
	ROS_DISTRO: [lyrical, rolling]

	uses: ros-controls/ros2_control_ci/.github/workflows/reusable-prerelease.yml@master
	with:
	ros_distro: ${{ matrix.ROS_DISTRO }}
	# downstream_depth is not set on pull_request event
	prerelease_downstream_depth: ${{ github.event_name == 'pull_request' && '0' \|\| inputs.downstream_depth }}
	prerelease_exclude_pkg: ackermann_steering_controller admittance_controller bicycle_steering_controller chained_filter_controller diff_drive_controller force_torque_sensor_broadcaster forward_command_controller gpio_controllers gps_sensor_broadcaster imu_sensor_broadcaster joint_state_broadcaster joint_trajectory_controller mecanum_drive_controller motion_primitives_controllers omni_wheel_drive_controller parallel_gripper_controller pid_controller pose_broadcaster range_sensor_broadcaster ros2_controllers ros2_controllers_test_nodes rqt_joint_trajectory_controller steering_controllers_library tricycle_controller tricycle_steering_controller gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests

Provide feedback