Add initial configurations for multiple distros.

.github/workflows/build-foxy.yml

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+# 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 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:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    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

.github/workflows/build-galactic.yml

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+# 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:
+  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:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    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

.github/workflows/build-rolling.yml

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+# 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:
+  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:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    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

.github/workflows/format.yml

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+# 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@v2.0.3
+      with:
+        extra_args: --all-files --hook-stage manual

.github/workflows/prerelease.yaml

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+# 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

.github/workflows/ros-lint.yml

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+name: ROS2 Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [copyright, lint_cmake]
+    steps:
+    - uses: actions/checkout@v1
+    - uses: ros-tooling/setup-ros@v0.2
+    - uses: ros-tooling/action-ros-lint@v0.1
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        package-name:
+          control_msgs