Add precommit workflow

.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/ci-build-binary.yml

@@ -0,0 +1,23 @@
+name: Binary Build
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '07 6 * * *'
+
+jobs:
+  binary:
+    name: Foxy binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: foxy, ROS_REPO: main}
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

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

@@ -1,55 +1,47 @@
-name: Test ros2_controllers
+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_binary:
-    name: Foxy binary job
-    runs-on: ubuntu-latest
-    strategy:
-     matrix:
-       env:
-         - {ROS_DISTRO: foxy, ROS_REPO: main}
-         - {ROS_DISTRO: foxy, ROS_REPO: testing}
-    env:
-     UPSTREAM_WORKSPACE: .github/workspace.repos
-    steps:
-     - uses: actions/checkout@v1
-     - uses: ros-industrial/industrial_ci@master
-       env: ${{matrix.env}}
-
-  ci_source:
-    name: Foxy source job
+  coverage:
+    name: coverage build
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@v0.1
+      - uses: ros-tooling/setup-ros@0.0.26
         with:
           required-ros-distributions: foxy
-      - uses: ros-tooling/action-ros-ci@v0.1
+      - uses: ros-tooling/action-ros-ci@v0.2
         with:
           target-ros2-distro: foxy
           # build all packages listed in the meta package
-          package-name: |
+          package-name:
+            diff_drive_controller
             effort_controllers
             forward_command_controller
             joint_state_broadcaster
             joint_state_controller
             joint_trajectory_controller
             position_controllers
+            ros2_controllers
             velocity_controllers
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/.github/workspace.repos
-          colcon-mixin-name: coverage-gcc
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers/ros2_controllers.repos
+          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 +1,39 @@
+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:
+            diff_drive_controller
+            effort_controllers
+            forward_command_controller
+            joint_state_broadcaster
+            joint_state_controller
+            joint_trajectory_controller
+            position_controllers
+            ros2_controllers
+            velocity_controllers
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers/ros2_controllers.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 +1,55 @@
+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: ${{ matrix.linter }}
+        package-name:
+          diff_drive_controller
+          effort_controllers
+          forward_command_controller
+          joint_state_broadcaster
+          joint_state_controller
+          joint_trajectory_controller
+          position_controllers
+          ros2_controllers
+          velocity_controllers
+
+  ament_lint_cpplint:
+    name: ament_${{ 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:
+          diff_drive_controller
+          effort_controllers
+          forward_command_controller
+          joint_state_broadcaster
+          joint_state_controller
+          joint_trajectory_controller
+          position_controllers
+          ros2_controllers
+          velocity_controllers