Add precommit workflow, CI configurations and rolling builds.

.clang-format

@@ -0,0 +1,15 @@
+---
+Language:        Cpp
+BasedOnStyle:  Google
+
+ColumnLimit: 100
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
+IncludeBlocks: Preserve
+...

.github/workflows/binary.yml → .github/workflows/ci-build-binary.yml

@@ -1,4 +1,4 @@
-name: Build & Test ros2_control with binary install
+name: Binary Build
 on:
   pull_request:
   push:
@@ -9,8 +9,8 @@ on:
     - cron: '17 8 * * *'
 
 jobs:
-  ci_binary:
-    name: Foxy binary job
+  binary:
+    name: Foxy binary build
     runs-on: ubuntu-latest
     strategy:
       matrix:
@@ -19,5 +19,5 @@ jobs:
           - {ROS_DISTRO: foxy, ROS_REPO: testing}
     steps:
       - uses: actions/checkout@v1
-      - uses: ros-industrial/industrial_ci@master
+      - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}

.github/workflows/source.yml → .github/workflows/ci-build-coverage.yml

@@ -1,21 +1,24 @@
-name: Build & Test ros2_control with source-based setup
+name: Coverage Build
 on:
+  pull_request:
   push:
     branches:
       - master
   schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '17 8 * * *'
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '07 7 * * *'
 
 jobs:
-  ci_source:
-    name: Foxy source job
+  coverage:
+    name: coverage build
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@v0.1
-      - uses: ros-tooling/action-ros-ci@v0.1
+      - uses: ros-tooling/setup-ros@0.0.26
+        with:
+          required-ros-distributions: foxy
+      - uses: ros-tooling/action-ros-ci@v0.2
         with:
           target-ros2-distro: foxy
           # build all packages listed in the meta package
@@ -28,11 +31,15 @@ jobs:
             ros2_control
             ros2_control_test_assets
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control/ros2_control.repos
-          colcon-mixin-name: coverage-gcc
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v1
+      - uses: codecov/codecov-action@v1.0.14
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests

.github/workflows/ci-build-source.yml

@@ -0,0 +1,37 @@
+name: Source Build
+on:
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '27 7 * * *'
+
+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@v0.2
+        with:
+          target-ros2-distro: foxy
+          # build all packages listed in the meta package
+          package-name:
+            controller_interface
+            controller_manager
+            controller_manager_msgs
+            hardware_interface
+            ros2controlcli
+            ros2_control
+            ros2_control_test_assets
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control/ros2_control.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

.github/workflows/ci-format.yml

@@ -0,0 +1,24 @@
+# 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:
+      - master
+
+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

.github/workflows/ci-ros-lint.yaml

@@ -0,0 +1,51 @@
+name: ROS Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [copyright, cppcheck, lint_cmake]
+    steps:
+    - uses: actions/checkout@v1
+    - uses: ros-tooling/setup-ros@v0.1
+    - uses: ros-tooling/action-ros-lint@v0.1
+      with:
+        distribution: foxy
+        linter: ${{ matrix.linter }}
+        package-name:
+          controller_interface
+          controller_manager
+          controller_manager_msgs
+          hardware_interface
+          ros2controlcli
+          ros2_control
+          ros2_control_test_assets
+
+  ament_lint_cpplint:
+    name: ament_${{ 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: foxy
+        linter: cpplint
+        arguments: "--filter=-whitespace/newline"
+        package-name:
+          controller_interface
+          controller_manager
+          controller_manager_msgs
+          hardware_interface
+          ros2controlcli
+          ros2_control
+          ros2_control_test_assets

.pre-commit-config.yaml

@@ -0,0 +1,143 @@
+# 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=100"]
+
+  # 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)$