From 253053d1dc9135795384c3446752b00b6acdbd40 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <denis@stogl.de>
Date: Wed, 2 Jun 2021 12:34:58 +0200
Subject: [PATCH 01/11] Add initial configurations for multiple distros.

---
 .github/workflows/build-foxy.yml            |  26 ++++
 .github/workflows/build-galactic.yml        |  26 ++++
 .github/workflows/build-rolling.yml         |  27 ++++
 .github/workflows/build-source-foxy.yml     |  30 ++++
 .github/workflows/build-source-galactic.yml |  30 ++++
 .github/workflows/build-source-rollling.yml |  31 +++++
 .github/workflows/build.yml                 |  71 ++++++++++
 .github/workflows/format.yml                |  25 ++++
 .github/workflows/ros-lint.yml              |  39 ++++++
 .gitlab-ci.yml                              |  22 ---
 .pre-commit-config.yaml                     | 144 ++++++++++++++++++++
 .travis.yml                                 |  13 --
 README.md                                   |  30 +++-
 13 files changed, 476 insertions(+), 38 deletions(-)
 create mode 100644 .github/workflows/build-foxy.yml
 create mode 100644 .github/workflows/build-galactic.yml
 create mode 100644 .github/workflows/build-rolling.yml
 create mode 100644 .github/workflows/build-source-foxy.yml
 create mode 100644 .github/workflows/build-source-galactic.yml
 create mode 100644 .github/workflows/build-source-rollling.yml
 create mode 100644 .github/workflows/build.yml
 create mode 100644 .github/workflows/format.yml
 create mode 100644 .github/workflows/ros-lint.yml
 delete mode 100644 .gitlab-ci.yml
 create mode 100644 .pre-commit-config.yaml
 delete mode 100644 .travis.yml

diff --git a/.github/workflows/build-foxy.yml b/.github/workflows/build-foxy.yml
new file mode 100644
index 00000000..2e3d8440
--- /dev/null
+++ b/.github/workflows/build-foxy.yml
@@ -0,0 +1,26 @@
+name: Build foxy
+on:
+  pull_request:
+  push:
+    branches:
+      - foxy-devel
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: foxy, ROS_REPO: main}
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+    env:
+      DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+
diff --git a/.github/workflows/build-galactic.yml b/.github/workflows/build-galactic.yml
new file mode 100644
index 00000000..edf55323
--- /dev/null
+++ b/.github/workflows/build-galactic.yml
@@ -0,0 +1,26 @@
+name: Build galactic
+on:
+  pull_request:
+  push:
+    branches:
+      - galactic-devel
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: galactic, ROS_REPO: main}
+          - {ROS_DISTRO: galactic, ROS_REPO: testing}
+    env:
+      DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+
diff --git a/.github/workflows/build-rolling.yml b/.github/workflows/build-rolling.yml
new file mode 100644
index 00000000..098b3f85
--- /dev/null
+++ b/.github/workflows/build-rolling.yml
@@ -0,0 +1,27 @@
+name: Build rolling
+on:
+  pull_request:
+  push:
+    branches:
+      - foxy-devel
+      - galactic-devel
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
+          - {ROS_DISTRO: rolling, ROS_REPO: testing}
+    env:
+      DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+
diff --git a/.github/workflows/build-source-foxy.yml b/.github/workflows/build-source-foxy.yml
new file mode 100644
index 00000000..0d6acbb4
--- /dev/null
+++ b/.github/workflows/build-source-foxy.yml
@@ -0,0 +1,30 @@
+name: Build Source foxy
+on:
+  push:
+    branches:
+      - foxy-devel
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 3 * * *'
+
+jobs:
+  source:
+    name: source build
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/setup-ros@0.0.26
+      - uses: ros-tooling/action-ros-ci@0.2
+        with:
+          target-ros2-distro: foxy
+          # build all packages listed in the meta package
+          package-name:
+            $NAME$
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log
diff --git a/.github/workflows/build-source-galactic.yml b/.github/workflows/build-source-galactic.yml
new file mode 100644
index 00000000..5e885a2c
--- /dev/null
+++ b/.github/workflows/build-source-galactic.yml
@@ -0,0 +1,30 @@
+name: Build Source galactic
+on:
+  push:
+    branches:
+      - galactic-devel
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 3 * * *'
+
+jobs:
+  source:
+    name: source build
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/setup-ros@0.0.26
+      - uses: ros-tooling/action-ros-ci@0.2
+        with:
+          target-ros2-distro: galactic
+          # build all packages listed in the meta package
+          package-name:
+            $NAME$
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/galactic/ros2.repos
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log
diff --git a/.github/workflows/build-source-rollling.yml b/.github/workflows/build-source-rollling.yml
new file mode 100644
index 00000000..58964e9c
--- /dev/null
+++ b/.github/workflows/build-source-rollling.yml
@@ -0,0 +1,31 @@
+name: Build Source rolling
+on:
+  push:
+    branches:
+      - foxy-devel
+      - galactic-devel
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 3 * * *'
+
+jobs:
+  source:
+    name: source build
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/setup-ros@0.0.26
+      - uses: ros-tooling/action-ros-ci@0.2
+        with:
+          target-ros2-distro: rolling
+          # build all packages listed in the meta package
+          package-name:
+            $NAME$
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 00000000..178e8ea9
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,71 @@
+name: Build
+on:
+  pull_request:
+  push:
+    branches:
+      - $ROS_DISTRO$
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: $ROS_DISTRO$, ROS_REPO: main}
+          - {ROS_DISTRO: $ROS_DISTRO$, ROS_REPO: testing}
+    env:
+      UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver.repos
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+
+
+## Build with cache
+NOT_TESTED...
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: foxy, ROS_REPO: main}
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      UPSTREAM_WORKSPACE: repos.local.repos
+    steps:
+      - uses: actions/checkout@v1
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        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@v2.1.3
+        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: ${{matrix.env}}
+      - 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 ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
new file mode 100644
index 00000000..6763f999
--- /dev/null
+++ b/.github/workflows/format.yml
@@ -0,0 +1,25 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - foxy-devel
+      - galactic-devel
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - name: Install clang-format-10
+      run: sudo apt-get install clang-format-10 cppcheck
+    - uses: pre-commit/action@v2.0.2
+      with:
+        extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
new file mode 100644
index 00000000..ad8b7f60
--- /dev/null
+++ b/.github/workflows/ros-lint.yml
@@ -0,0 +1,39 @@
+name: ROS2 Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cppcheck, copyright, lint_cmake]
+    steps:
+    - uses: actions/checkout@v1
+    - uses: ros-tooling/setup-ros@v0.1
+    - uses: ros-tooling/action-ros-lint@v0.1
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        package-name:
+          control_msgs
+
+  ament_lint_100:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [cpplint]
+    steps:
+    - uses: actions/checkout@v1
+    - uses: ros-tooling/setup-ros@v0.1
+    - uses: ros-tooling/action-ros-lint@v0.1
+      with:
+        distribution: rolling
+        linter: cpplint
+        arguments: "--linelength=100 --filter=-whitespace/newline"
+        package-name:
+          control_msgs
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index ed08df3c..00000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-image: docker:git
-services:
-  - docker:dind
-variables:
-  ENV_IMAGE: osrf/ros2:bouncy-ros-base
-  BUILD_IMAGE: $CI_REGISTRY_IMAGE:$CI_COMMIT_REF_SLUG
-stages:
-  - build
-
-build:
-  stage: build
-  before_script:
-    - docker login -u gitlab-ci-token -p $CI_JOB_TOKEN $CI_REGISTRY
-  script:
-    - docker run --name build-container -dit $ENV_IMAGE /bin/bash
-    - docker exec build-container /bin/bash -c 'mkdir -p /ros2_ws/src'
-    - docker exec build-container /bin/bash -c 'apt update && apt install -y python3-colcon-common-extensions python-rosdep && rosdep init && rosdep update'
-    - docker cp $CI_PROJECT_DIR build-container:/ros2_ws/src/
-    - docker exec -w /ros2_ws build-container /bin/bash -c 'source /opt/ros/bouncy/setup.bash && rosdep install --from-paths src --ignore-src --rosdistro bouncy -r -y'
-    - docker exec -w /ros2_ws build-container /bin/bash -c 'source /opt/ros/bouncy/setup.bash && colcon build --symlink-install'
-    - docker commit build-container $BUILD_IMAGE
-    - docker push $BUILD_IMAGE
\ No newline at end of file
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 00000000..d0a2af89
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,144 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+      - id: fix-byte-order-marker
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v2.12.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  - repo: https://github.com/psf/black
+    rev: 20.8b1
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  # PEP 257
+  - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
+    rev: v0.3.3
+    hooks:
+    - id: pep257
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 3.9.0
+    hooks:
+    - id: flake8
+      args: ["--ignore=E501"]
+
+  # CPP hooks
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-10
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']
+  # The same options as in ament_cppcheck are used, but its not working...
+  #- repo: https://github.com/pocc/pre-commit-hooks
+    #rev: v1.1.1
+    #hooks:
+      #- id: cppcheck
+        #args: ['--error-exitcode=1', '-f', '--inline-suppr', '-q', '-rp', '--suppress=internalAstError', '--suppress=unknownMacro', '--verbose']
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  # Maybe use https://github.com/cpplint/cpplint instead
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        stages: [commit]
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        stages: [commit]
+        entry: ament_copyright
+        language: system
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: 0.9.0a1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.8.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.0.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes']
+        exclude: \.(svg|pyc)$
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index d27d41e9..00000000
--- a/.travis.yml
+++ /dev/null
@@ -1,13 +0,0 @@
-language: generic
-services:
-  - docker
-
-env:
-  matrix:
-    - ROS_DISTRO="foxy" ROS_REPO=testing
-    - ROS_DISTRO="foxy" ROS_REPO=main
-
-install:
-  -  git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
-script:
-  - .industrial_ci/travis.sh
diff --git a/README.md b/README.md
index 7a4b324e..d878e408 100644
--- a/README.md
+++ b/README.md
@@ -3,8 +3,32 @@ control_msgs
 
 See [control_msgs documentation](http://wiki.ros.org/control_msgs) on ros.org
 
+
 ### Build Status
 
-Kinetic | Melodic | Crystal | Dashing | Eloquent | Foxy
- ------ | ------ | ------ | ------ | ------ | ------
-[![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://api.travis-ci.org/ros-controls/control_msgs.png?branch=foxy-devel)](https://travis-ci.org/ros-controls/control_msgs)  
+Kinetic/Melodic/Noetic | Foxy | Galactic | Rolling |
+ --------------------- | ------ | ---- | -------- | -------
+[![Build Status](https://github.com/ros-controls/control_msgs/workflows/Test%20control_msgs/badge.svg?branch=kinetic-devel)](https://github.com/ros-controls/control_msgs/actions?query=workflow%3A%22Test+control_msgs%22+branch%3Akinetic-devel) |
+TBD | TBD | TBD
+
+
+## Code Formatting
+
+This repository uses `pre-commit` tool for code formatting.
+The tool checks formatting each time you commit to a repository.
+To install it locally use:
+  ```
+  pip3 install pre-commit  # (prepend `sudo` if you want to install it system wide)
+  ```
+
+To run it initially over the whole repo you can use:
+  ```
+  pre-commit run -a
+  ```
+
+If you get error that something is missing on your computer, do the following for:
+
+  - `clang-format-10`
+     ```
+     sudo apt install clang-format-10
+     ```

From f8e3bda063f17351121dfdbab8d00112f55bd70d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <denis@stogl.de>
Date: Wed, 30 Jun 2021 15:20:48 +0200
Subject: [PATCH 02/11] Update configurations.

---
 .github/workflows/build-foxy.yml            | 34 +++++++++-
 .github/workflows/build-galactic.yml        | 31 +++++++++
 .github/workflows/build-rolling.yml         | 31 +++++++++
 .github/workflows/build-source-foxy.yml     |  2 +-
 .github/workflows/build-source-galactic.yml |  2 +-
 .github/workflows/build-source-rollling.yml |  4 +-
 .github/workflows/build.yml                 | 71 ---------------------
 .github/workflows/format.yml                |  3 +-
 .github/workflows/prerelease.yaml           | 26 ++++++++
 .github/workflows/ros-lint.yml              |  4 +-
 10 files changed, 128 insertions(+), 80 deletions(-)
 delete mode 100644 .github/workflows/build.yml
 create mode 100644 .github/workflows/prerelease.yaml

diff --git a/.github/workflows/build-foxy.yml b/.github/workflows/build-foxy.yml
index 2e3d8440..6e02d11e 100644
--- a/.github/workflows/build-foxy.yml
+++ b/.github/workflows/build-foxy.yml
@@ -1,4 +1,7 @@
-name: Build foxy
+# 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: Build
 on:
   pull_request:
   push:
@@ -18,9 +21,36 @@ jobs:
           - {ROS_DISTRO: foxy, ROS_REPO: main}
           - {ROS_DISTRO: foxy, ROS_REPO: testing}
     env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
     steps:
       - uses: actions/checkout@v1
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        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@v2.1.3
+        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: ${{matrix.env}}
-
+      - 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/build-galactic.yml b/.github/workflows/build-galactic.yml
index edf55323..a1b03769 100644
--- a/.github/workflows/build-galactic.yml
+++ b/.github/workflows/build-galactic.yml
@@ -1,3 +1,6 @@
+# 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: Build galactic
 on:
   pull_request:
@@ -18,9 +21,37 @@ jobs:
           - {ROS_DISTRO: galactic, ROS_REPO: main}
           - {ROS_DISTRO: galactic, ROS_REPO: testing}
     env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
     steps:
       - uses: actions/checkout@v1
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        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@v2.1.3
+        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: ${{matrix.env}}
+      - 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/build-rolling.yml b/.github/workflows/build-rolling.yml
index 098b3f85..4e05bff0 100644
--- a/.github/workflows/build-rolling.yml
+++ b/.github/workflows/build-rolling.yml
@@ -1,3 +1,6 @@
+# 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: Build rolling
 on:
   pull_request:
@@ -19,9 +22,37 @@ jobs:
           - {ROS_DISTRO: rolling, ROS_REPO: main}
           - {ROS_DISTRO: rolling, ROS_REPO: testing}
     env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
     steps:
       - uses: actions/checkout@v1
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        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@v2.1.3
+        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: ${{matrix.env}}
+      - 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/build-source-foxy.yml b/.github/workflows/build-source-foxy.yml
index 0d6acbb4..fe2cb2a6 100644
--- a/.github/workflows/build-source-foxy.yml
+++ b/.github/workflows/build-source-foxy.yml
@@ -20,7 +20,7 @@ jobs:
           target-ros2-distro: foxy
           # build all packages listed in the meta package
           package-name:
-            $NAME$
+            control_msgs
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
diff --git a/.github/workflows/build-source-galactic.yml b/.github/workflows/build-source-galactic.yml
index 5e885a2c..dc4cc33f 100644
--- a/.github/workflows/build-source-galactic.yml
+++ b/.github/workflows/build-source-galactic.yml
@@ -20,7 +20,7 @@ jobs:
           target-ros2-distro: galactic
           # build all packages listed in the meta package
           package-name:
-            $NAME$
+            control_msgs
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/galactic/ros2.repos
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
diff --git a/.github/workflows/build-source-rollling.yml b/.github/workflows/build-source-rollling.yml
index 58964e9c..679a4bf9 100644
--- a/.github/workflows/build-source-rollling.yml
+++ b/.github/workflows/build-source-rollling.yml
@@ -15,13 +15,13 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@0.0.26
+      - uses: ros-tooling/setup-ros@0.2
       - uses: ros-tooling/action-ros-ci@0.2
         with:
           target-ros2-distro: rolling
           # build all packages listed in the meta package
           package-name:
-            $NAME$
+            control_msgs
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
deleted file mode 100644
index 178e8ea9..00000000
--- a/.github/workflows/build.yml
+++ /dev/null
@@ -1,71 +0,0 @@
-name: Build
-on:
-  pull_request:
-  push:
-    branches:
-      - $ROS_DISTRO$
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '28 6 * * *'
-
-jobs:
-  binary:
-    name: binary build
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: $ROS_DISTRO$, ROS_REPO: main}
-          - {ROS_DISTRO: $ROS_DISTRO$, ROS_REPO: testing}
-    env:
-      UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver.repos
-    steps:
-      - uses: actions/checkout@v1
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
-
-
-## Build with cache
-NOT_TESTED...
-  binary:
-    name: binary build
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: foxy, ROS_REPO: main}
-          - {ROS_DISTRO: foxy, ROS_REPO: testing}
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/.ccache
-      BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      UPSTREAM_WORKSPACE: repos.local.repos
-    steps:
-      - uses: actions/checkout@v1
-      # The target directory cache doesn't include the source directory because
-      # that comes from the checkout.  See "prepare target_ws for cache" task below
-      - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v2.1.3
-        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@v2.1.3
-        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: ${{matrix.env}}
-      - 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/format.yml b/.github/workflows/format.yml
index 6763f999..889aaf63 100644
--- a/.github/workflows/format.yml
+++ b/.github/workflows/format.yml
@@ -20,6 +20,7 @@ jobs:
     - uses: actions/setup-python@v2
     - name: Install clang-format-10
       run: sudo apt-get install clang-format-10 cppcheck
-    - uses: pre-commit/action@v2.0.2
+    - uses: pre-commit/action@v2.0.3
       with:
         extra_args: --all-files --hook-stage manual
+        token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
new file mode 100644
index 00000000..8b860855
--- /dev/null
+++ b/.github/workflows/prerelease.yaml
@@ -0,0 +1,26 @@
+# 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: pre-release
+
+on:
+  workflow_dispatch:
+
+jobs:
+  default:
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [foxy, galactic, rolling]
+
+    env:
+      ROS_DISTRO: ${{ matrix.distro }}
+      PRERELEASE: true
+      BASEDIR: ${{ github.workspace }}/.work
+
+    name: "${{ matrix.distro }}"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: industrial_ci
+        uses: ros-industrial/industrial_ci@master
diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
index ad8b7f60..a8a60988 100644
--- a/.github/workflows/ros-lint.yml
+++ b/.github/workflows/ros-lint.yml
@@ -12,7 +12,7 @@ jobs:
           linter: [cppcheck, copyright, lint_cmake]
     steps:
     - uses: actions/checkout@v1
-    - uses: ros-tooling/setup-ros@v0.1
+    - uses: ros-tooling/setup-ros@v0.2
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         distribution: rolling
@@ -29,7 +29,7 @@ jobs:
           linter: [cpplint]
     steps:
     - uses: actions/checkout@v1
-    - uses: ros-tooling/setup-ros@v0.1
+    - uses: ros-tooling/setup-ros@v0.2
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         distribution: rolling

From ea4b1a44874bc907b3d007831b6ce31231648e21 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <denis@stogl.de>
Date: Wed, 30 Jun 2021 16:16:59 +0200
Subject: [PATCH 03/11] Update config.

---
 .github/workflows/build-foxy.yml     |  1 -
 .github/workflows/build-galactic.yml |  1 -
 .github/workflows/build-rolling.yml  |  1 -
 .github/workflows/ros-lint.yml       | 20 +-------------------
 4 files changed, 1 insertion(+), 22 deletions(-)

diff --git a/.github/workflows/build-foxy.yml b/.github/workflows/build-foxy.yml
index 6e02d11e..a7793e05 100644
--- a/.github/workflows/build-foxy.yml
+++ b/.github/workflows/build-foxy.yml
@@ -24,7 +24,6 @@ jobs:
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
     steps:
       - uses: actions/checkout@v1
       # The target directory cache doesn't include the source directory because
diff --git a/.github/workflows/build-galactic.yml b/.github/workflows/build-galactic.yml
index a1b03769..17b6b935 100644
--- a/.github/workflows/build-galactic.yml
+++ b/.github/workflows/build-galactic.yml
@@ -24,7 +24,6 @@ jobs:
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
     steps:
       - uses: actions/checkout@v1
       # The target directory cache doesn't include the source directory because
diff --git a/.github/workflows/build-rolling.yml b/.github/workflows/build-rolling.yml
index 4e05bff0..4df4da5d 100644
--- a/.github/workflows/build-rolling.yml
+++ b/.github/workflows/build-rolling.yml
@@ -25,7 +25,6 @@ jobs:
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
     steps:
       - uses: actions/checkout@v1
       # The target directory cache doesn't include the source directory because
diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
index a8a60988..7d6cc876 100644
--- a/.github/workflows/ros-lint.yml
+++ b/.github/workflows/ros-lint.yml
@@ -9,7 +9,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          linter: [cppcheck, copyright, lint_cmake]
+          linter: [copyright, lint_cmake]
     steps:
     - uses: actions/checkout@v1
     - uses: ros-tooling/setup-ros@v0.2
@@ -19,21 +19,3 @@ jobs:
         linter: ${{ matrix.linter }}
         package-name:
           control_msgs
-
-  ament_lint_100:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
-    strategy:
-      fail-fast: false
-      matrix:
-          linter: [cpplint]
-    steps:
-    - uses: actions/checkout@v1
-    - uses: ros-tooling/setup-ros@v0.2
-    - uses: ros-tooling/action-ros-lint@v0.1
-      with:
-        distribution: rolling
-        linter: cpplint
-        arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          control_msgs

From 30b5be5149d8b0d79fb31b76d9afe96dd1b184f5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <denis@stogl.de>
Date: Wed, 30 Jun 2021 16:17:53 +0200
Subject: [PATCH 04/11] Correct pre-commit formating.

---
 .github/workflows/build-galactic.yml       | 1 -
 .github/workflows/build-rolling.yml        | 1 -
 control_msgs/msg/JointTolerance.msg        | 2 +-
 control_msgs/srv/QueryCalibrationState.srv | 2 +-
 4 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-galactic.yml b/.github/workflows/build-galactic.yml
index 17b6b935..4c010cf6 100644
--- a/.github/workflows/build-galactic.yml
+++ b/.github/workflows/build-galactic.yml
@@ -53,4 +53,3 @@ jobs:
           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/build-rolling.yml b/.github/workflows/build-rolling.yml
index 4df4da5d..ad1625c4 100644
--- a/.github/workflows/build-rolling.yml
+++ b/.github/workflows/build-rolling.yml
@@ -54,4 +54,3 @@ jobs:
           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/control_msgs/msg/JointTolerance.msg b/control_msgs/msg/JointTolerance.msg
index cd99abe6..43767db5 100644
--- a/control_msgs/msg/JointTolerance.msg
+++ b/control_msgs/msg/JointTolerance.msg
@@ -3,7 +3,7 @@
 # of trajectory control, when the actual position varies beyond
 # (desired position + position tolerance), the trajectory goal may
 # abort.
-# 
+#
 # There are two special values for tolerances:
 #  * 0 - The tolerance is unspecified and will remain at whatever the default is
 #  * -1 - The tolerance is "erased".  If there was a default, the joint will be
diff --git a/control_msgs/srv/QueryCalibrationState.srv b/control_msgs/srv/QueryCalibrationState.srv
index 47dcaa9e..8222ec25 100644
--- a/control_msgs/srv/QueryCalibrationState.srv
+++ b/control_msgs/srv/QueryCalibrationState.srv
@@ -1,2 +1,2 @@
 ---
-bool is_calibrated
\ No newline at end of file
+bool is_calibrated

From ba34088abea6c067ed103559947b46beddb29338 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Wed, 30 Jun 2021 23:42:51 +0200
Subject: [PATCH 05/11] Update build-foxy.yml

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

diff --git a/.github/workflows/build-foxy.yml b/.github/workflows/build-foxy.yml
index a7793e05..d502a18f 100644
--- a/.github/workflows/build-foxy.yml
+++ b/.github/workflows/build-foxy.yml
@@ -1,7 +1,7 @@
 # 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: Build
+name: Build foxy
 on:
   pull_request:
   push:

From 57c6553b34531e2ce0712dabfea25d3fc7da541c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Sat, 3 Jul 2021 08:45:26 +0200
Subject: [PATCH 06/11] Delete build-source-foxy.yml

---
 .github/workflows/build-source-foxy.yml | 30 -------------------------
 1 file changed, 30 deletions(-)
 delete mode 100644 .github/workflows/build-source-foxy.yml

diff --git a/.github/workflows/build-source-foxy.yml b/.github/workflows/build-source-foxy.yml
deleted file mode 100644
index fe2cb2a6..00000000
--- a/.github/workflows/build-source-foxy.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-name: Build Source foxy
-on:
-  push:
-    branches:
-      - foxy-devel
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '28 3 * * *'
-
-jobs:
-  source:
-    name: source build
-    runs-on: ubuntu-20.04
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: ros-tooling/setup-ros@0.0.26
-      - uses: ros-tooling/action-ros-ci@0.2
-        with:
-          target-ros2-distro: foxy
-          # build all packages listed in the meta package
-          package-name:
-            control_msgs
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v1
-        with:
-          name: colcon-logs-${{ matrix.os }}
-          path: ros_ws/log

From 17a8e4deff724b8366cc147b7c109f3756f12b50 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Sat, 3 Jul 2021 08:45:40 +0200
Subject: [PATCH 07/11] Delete build-source-galactic.yml

---
 .github/workflows/build-source-galactic.yml | 30 ---------------------
 1 file changed, 30 deletions(-)
 delete mode 100644 .github/workflows/build-source-galactic.yml

diff --git a/.github/workflows/build-source-galactic.yml b/.github/workflows/build-source-galactic.yml
deleted file mode 100644
index dc4cc33f..00000000
--- a/.github/workflows/build-source-galactic.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-name: Build Source galactic
-on:
-  push:
-    branches:
-      - galactic-devel
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '28 3 * * *'
-
-jobs:
-  source:
-    name: source build
-    runs-on: ubuntu-20.04
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: ros-tooling/setup-ros@0.0.26
-      - uses: ros-tooling/action-ros-ci@0.2
-        with:
-          target-ros2-distro: galactic
-          # build all packages listed in the meta package
-          package-name:
-            control_msgs
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/galactic/ros2.repos
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v1
-        with:
-          name: colcon-logs-${{ matrix.os }}
-          path: ros_ws/log

From f75875a4b1bfbf17f8b391a20bde0e106a48a1ea Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Sat, 3 Jul 2021 08:46:04 +0200
Subject: [PATCH 08/11] Delete build-source-rollling.yml

---
 .github/workflows/build-source-rollling.yml | 31 ---------------------
 1 file changed, 31 deletions(-)
 delete mode 100644 .github/workflows/build-source-rollling.yml

diff --git a/.github/workflows/build-source-rollling.yml b/.github/workflows/build-source-rollling.yml
deleted file mode 100644
index 679a4bf9..00000000
--- a/.github/workflows/build-source-rollling.yml
+++ /dev/null
@@ -1,31 +0,0 @@
-name: Build Source rolling
-on:
-  push:
-    branches:
-      - foxy-devel
-      - galactic-devel
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '28 3 * * *'
-
-jobs:
-  source:
-    name: source build
-    runs-on: ubuntu-20.04
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: ros-tooling/setup-ros@0.2
-      - uses: ros-tooling/action-ros-ci@0.2
-        with:
-          target-ros2-distro: rolling
-          # build all packages listed in the meta package
-          package-name:
-            control_msgs
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v1
-        with:
-          name: colcon-logs-${{ matrix.os }}
-          path: ros_ws/log

From 24de121d36c3ed7b367c73afbaa0fa8dbf3a0e8f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Sat, 3 Jul 2021 08:48:38 +0200
Subject: [PATCH 09/11] Update README.md

---
 README.md | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index d878e408..8cfc96a3 100644
--- a/README.md
+++ b/README.md
@@ -6,10 +6,9 @@ See [control_msgs documentation](http://wiki.ros.org/control_msgs) on ros.org
 
 ### Build Status
 
-Kinetic/Melodic/Noetic | Foxy | Galactic | Rolling |
- --------------------- | ------ | ---- | -------- | -------
-[![Build Status](https://github.com/ros-controls/control_msgs/workflows/Test%20control_msgs/badge.svg?branch=kinetic-devel)](https://github.com/ros-controls/control_msgs/actions?query=workflow%3A%22Test+control_msgs%22+branch%3Akinetic-devel) |
-TBD | TBD | TBD
+Kinetic | Melodic | Crystal | Dashing | Eloquent | Foxy
+ ------ | ------ | ------ | ------ | ------ | ------
+[![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://api.travis-ci.org/ros-controls/control_msgs.png?branch=foxy-devel)](https://travis-ci.org/ros-controls/control_msgs)  
 
 
 ## Code Formatting

From e0e800142ed5a65b6f9cd432cffce60511557f2b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Sat, 3 Jul 2021 08:58:30 +0200
Subject: [PATCH 10/11] Update format.yml

---
 .github/workflows/format.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
index 889aaf63..227889a9 100644
--- a/.github/workflows/format.yml
+++ b/.github/workflows/format.yml
@@ -23,4 +23,3 @@ jobs:
     - uses: pre-commit/action@v2.0.3
       with:
         extra_args: --all-files --hook-stage manual
-        token: ${{ secrets.GITHUB_TOKEN }}

From 98668716e9d2f32b8170892f73f28a8bfad4ea70 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Sat, 3 Jul 2021 09:00:37 +0200
Subject: [PATCH 11/11] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 8cfc96a3..a215bd82 100644
--- a/README.md
+++ b/README.md
@@ -8,7 +8,7 @@ See [control_msgs documentation](http://wiki.ros.org/control_msgs) on ros.org
 
 Kinetic | Melodic | Crystal | Dashing | Eloquent | Foxy
  ------ | ------ | ------ | ------ | ------ | ------
-[![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://api.travis-ci.org/ros-controls/control_msgs.png?branch=foxy-devel)](https://travis-ci.org/ros-controls/control_msgs)  
+[![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://api.travis-ci.org/ros-controls/control_msgs.png?branch=foxy-devel)](https://travis-ci.org/ros-controls/control_msgs)
 
 
 ## Code Formatting