Add lyrical workflows and bump ubuntu version for rolling (#767)

Author: christophfroehlich

.github/workflows/build_and_publish_debian_docker.yaml

@@ -41,6 +41,9 @@ jobs:
           - ros_distro: 'kilted'
             debian_version: 'debian12'
             exclude_packages: ''
+          - ros_distro: 'lyrical'
+            debian_version: 'debian12'
+            exclude_packages: ''
           - ros_distro: 'rolling'
             debian_version: 'debian12'
             exclude_packages: ''

.github/workflows/build_and_publish_ubuntu_docker.yaml

@@ -40,8 +40,11 @@ jobs:
           - ros_distro: 'kilted'
             base_image: 'ubuntu:noble'
             ros-repo-packages: ""
+          - ros_distro: 'lyrical'
+            base_image: 'ubuntu:resolute'
+            ros-repo-packages: ""
           - ros_distro: 'rolling'
-            base_image: 'ubuntu:noble'
+            base_image: 'ubuntu:resolute'
             ros-repo-packages: ""
           - ros_distro: 'humble'
             base_image: 'ubuntu:jammy'
@@ -52,8 +55,11 @@ jobs:
           - ros_distro: 'kilted'
             base_image: 'ubuntu:noble'
             ros-repo-packages: "-testing"
+          - ros_distro: 'lyrical'
+            base_image: 'ubuntu:resolute'
+            ros-repo-packages: "-testing"
           - ros_distro: 'rolling'
-            base_image: 'ubuntu:noble'
+            base_image: 'ubuntu:resolute'
             ros-repo-packages: "-testing"
     steps:
       - uses: actions/checkout@v6
@@ -102,7 +108,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, humble, jazzy, kilted]
+        ROS_DISTRO: [rolling, humble, jazzy, kilted, lyrical]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
@@ -118,7 +124,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [kilted, humble, jazzy]
+        ROS_DISTRO: [kilted, humble, jazzy, lyrical]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}

.github/workflows/debian-stack-build.yml

@@ -10,6 +10,7 @@ on:
       - 'ros_controls.humble.repos'
       - 'ros_controls.jazzy.repos'
       - 'ros_controls.kilted.repos'
+      - 'ros_controls.lyrical.repos'
       - 'ros_controls.rolling.repos'
   push: *event
   schedule:
@@ -44,7 +45,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy, kilted, rolling]
+        ROS_DISTRO: [humble, jazzy, kilted, lyrical, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos

.github/workflows/lyrical-binary-build.yml

@@ -0,0 +1,57 @@
+name: Lyrical Stack Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/lyrical-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.lyrical.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '.github/workflows/lyrical-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.lyrical.repos'
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
+jobs:
+  stack-build-gate:
+    runs-on: ubuntu-latest
+    outputs:
+      skip_stack_build: ${{ steps.gate.outputs.skip_stack_build }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v6
+      - name: Evaluate stack build gate
+        id: gate
+        uses: ./.github/actions/stack-build-gate
+        with:
+          blocked_paths: |
+            - '.github/workflows/build_and_publish_ubuntu_docker.yaml'
+            - 'ros2_ubuntu/**'
+
+  stack-build:
+    needs: stack-build-gate
+    if: ${{ needs.stack-build-gate.outputs.skip_stack_build != 'true' }}
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master

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

@@ -0,0 +1,57 @@
+name: Check Rolling Compatibility on Lyrical
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test the rolling stack on lyrical distro.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-lyrical-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-lyrical.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '.github/workflows/rolling-compatibility-lyrical-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-lyrical.repos'
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
+jobs:
+  stack-build-gate:
+    runs-on: ubuntu-latest
+    outputs:
+      skip_stack_build: ${{ steps.gate.outputs.skip_stack_build }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v6
+      - name: Evaluate stack build gate
+        id: gate
+        uses: ./.github/actions/stack-build-gate
+        with:
+          blocked_paths: |
+            - '.github/workflows/build_and_publish_ubuntu_docker.yaml'
+            - 'ros2_ubuntu/**'
+
+  stack-build-on-lyrical:
+    needs: stack-build-gate
+    if: ${{ needs.stack-build-gate.outputs.skip_stack_build != 'true' }}
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      target_workspace: ros_controls.rolling-on-lyrical.repos
+      ref_for_scheduled_build: master

README.md

@@ -11,14 +11,16 @@ Within this repo the full ros2_control stack is built and tested once per day.
 
 | Platform | Build status |
 | --- | --- |
-| Ubuntu | [![Rolling Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml) [![Kilted Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/kilted-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/kilted-binary-build.yml) [![Jazzy Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml) [![Humble Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml) |
+| Ubuntu | [![Rolling Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml) [![Lyrical Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/lyrical-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/lyrical-binary-build.yml) [![Kilted Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/kilted-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/kilted-binary-build.yml) [![Jazzy Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml) [![Humble Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml) |
 | Debian | [![Debian Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/debian-stack-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/debian-stack-build.yml) |
 | RHEL | [![RHEL Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rhel-stack-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rhel-stack-build.yml) |
 | Windows | [![Windows Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/windows-stack-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/windows-stack-build.yml) |
 
 ## Compatibility versions
 We thrive to make the rolling development version of the ros2_control stack compatible with earlier releases of ROS 2. This is done by building the rolling version of the stack from source with the earlier releases of ROS 2.
 
+[![Check Rolling Compatibility on Lyrical with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-lyrical-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-lyrical-binary-build.yml)
+
 [![Check Rolling Compatibility on Kilted with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-kilted-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-kilted-binary-build.yml)
 
 [![Check Rolling Compatibility on Jazzy with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml)

ros2_ubuntu/Dockerfile

@@ -75,6 +75,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     ros-${ROS_DISTRO}-sdformat-urdf \
     ros-${ROS_DISTRO}-xacro \
+    $(if [ $(lsb_release -sc) = "resolute" ]; then echo "libssl-dev python3-dev clang lcov python3-rosinstall-generator python3-pip python3-pytest-cov python3-flake8-blind-except python3-flake8-class-newline python3-flake8-deprecated python3-pytest-repeat python3-pytest-rerunfailures ros-dev-tools python3-colcon-coveragepy-result python3-colcon-lcov-result python3-colcon-meson python3-colcon-mixin python3-importlib-metadata libclang-rt-dev"; fi) \
     $(if [ $(lsb_release -sc) = "noble" ]; then echo "libssl-dev python3-dev clang lcov python3-rosinstall-generator python3-pip python3-pytest-cov python3-flake8-blind-except python3-flake8-class-newline python3-flake8-deprecated python3-pytest-repeat python3-pytest-rerunfailures ros-dev-tools python3-colcon-coveragepy-result python3-colcon-lcov-result python3-colcon-meson python3-colcon-mixin python3-importlib-metadata libclang-rt-dev"; fi) \
     $(if [ $(lsb_release -sc) = "jammy" ]; then echo "libssl-dev python3-dev clang lcov python3-rosinstall-generator python3-flake8-docstrings python3-pip python3-pytest-cov python3-flake8-blind-except python3-flake8-builtins python3-flake8-class-newline python3-flake8-comprehensions python3-flake8-deprecated python3-flake8-import-order python3-flake8-quotes python3-pytest-repeat python3-pytest-rerunfailures ros-dev-tools python3-colcon-coveragepy-result python3-colcon-lcov-result python3-colcon-meson python3-colcon-mixin libasio-dev libtinyxml2-dev"; fi) \
     && rm -rf /var/lib/apt/lists/*

ros_controls.lyrical.repos

@@ -0,0 +1,45 @@
+repositories:
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: rolling
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master
+  ros-controls/ros2_control_cmake:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_cmake.git
+    version: master
+  ros-controls/topic_based_hardware_interfaces:
+    type: git
+    url: https://github.com/ros-controls/topic_based_hardware_interfaces.git
+    version: main
+  ros-controls/mujoco_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/mujoco_ros2_control.git
+    version: main

ros_controls.rolling-on-lyrical.repos

@@ -0,0 +1,45 @@
+repositories:
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: rolling
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master
+  ros-controls/ros2_control_cmake:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_cmake.git
+    version: master
+  ros-controls/topic_based_hardware_interfaces:
+    type: git
+    url: https://github.com/ros-controls/topic_based_hardware_interfaces.git
+    version: main
+  ros-controls/mujoco_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/mujoco_ros2_control.git
+    version: main