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ci: cover every released distro, add a blocking Resolute gate #131

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96 changes: 44 additions & 52 deletions .github/workflows/README.md
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# CI overview

ROS2 Distro | Branch | Build status | Documentation | Released packages
:---------: | :----: | :----------: | :-----------: | :---------------:
**Rolling** | [`rolling`](https://github.com/PickNikRobotics/ros2_robotiq_gripper/tree/rolling) | [![Rolling Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-binary-build-main.yml?branch=main) <br /> [![Rolling Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-binary-build-testing.yml?branch=main) <br /> [![Rolling Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-semi-binary-build-main.yml?branch=main) <br /> [![Rolling Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-semi-binary-build-testing.yml?branch=main) <br /> [![Rolling Source Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-source-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/rolling-source-build.yml?branch=main) | [![Doxygen Doc Deployment](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml/badge.svg)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml) <br /> [Generated Doc](https://PickNikRobotics.github.io/ros2_robotiq_gripper_Documentation/rolling/html/index.html) | [ros2_robotiq_gripper](https://index.ros.org/p/ros2_robotiq_gripper/#rolling)
| Workflow | Trigger | Blocking | What it covers |
|---|---|---|---|
| [`build_and_test.yaml`](build_and_test.yaml) | PR to `main`, push, nightly, manual | see below | binary + semi-binary tiers across every distro `main` serves |
| [`rolling-source-build.yml`](rolling-source-build.yml) | push, nightly, manual | no | source tier — core ROS from source |
| [`ci-format.yml`](ci-format.yml) | PR, manual | yes | `pre-commit` across all files |
| [`ci-ros-lint.yml`](ci-ros-lint.yml) | PR to `main`, manual | yes | `ament_copyright`, `ament_lint_cmake`, `ament_cpplint` on **lyrical** |
| [`ci-coverage-build.yml`](ci-coverage-build.yml) | PR to `main`, manual | no | coverage — currently broken, see below |
| [`prerelease-check.yml`](prerelease-check.yml) | manual | n/a | `industrial_ci` `PRERELEASE: true` — buildfarm dry-run before tagging |

## Build status
## The tiers

Two knobs, not one ladder.

### Explanation of different build types
**How much is built from source:**

**NOTE**: There are three build stages checking current and future compatibility of the package.
| Tier | Core ROS | Our immediate deps | `.repos` used |
|---|---|---|---|
| binary | deb | **deb** | `ros2_robotiq_gripper-not-released.<distro>.repos` |
| semi-binary | deb | **source** (dev branches) | `ros2_robotiq_gripper.rolling.repos` |
| source | **source** | source | `ros2.repos` + the above |

[Detailed build status](.github/workflows/README.md)
**Which apt repo the debs come from:** `main` (what users install today) or `testing` (staged for the next sync).

1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
Both `.repos` files carry `serial`, because [wjwwood/serial was never released to ROS 2](https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/21) — there is no rosdep key, so it has to be a source checkout even in the binary tier. That is also why `robotiq_driver` is not in the released package set; only `robotiq_controllers` and `robotiq_description` are bloomed.

Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
## Matrix

1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
| Job | apt | Base OS | Blocking |
|---|---|---|---|
| `jazzy-main` | main | noble | ✅ |
| `kilted-main` | main | noble | ✅ |
| **`lyrical-main`** | main | **resolute** | **✅** |
| `rolling-main` | main | resolute | ❌ |
| `jazzy-testing` | testing | noble | ❌ |
| `kilted-testing` | testing | noble | ❌ |
| `lyrical-testing` | testing | resolute | ❌ |
| `rolling-testing` | testing | resolute | ✅ |
| `rolling-main + upstream-source` | main | resolute | ❌ |
| `rolling-testing + upstream-source` | testing | resolute | ❌ |

Uses repos file: `$NAME$.repos`
**lyrical is the Resolute gate.** It is Ubuntu Resolute *and* released, so its `main` apt is populated (`ros2_control` 6.8.0). This repo is released to five distros but CI only ever built rolling — jazzy, kilted and lyrical all shipped untested, and lyrical is the one whose buildfarm is currently failing.

1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
`rolling-main` is non-blocking because Rolling's `main` apt has no Resolute packages yet — the state [#129](https://github.com/PickNikRobotics/ros2_robotiq_gripper/pull/129) established. It will go green on its own once those promote out of `ros2-testing`.

ROS2 Distro | Branch | Build status | Documentation | Released packages
:---------: | :----: | :----------: | :-----------: | :---------------:
**Humble** | [`humble`](https://github.com/PickNikRobotics/ros2_robotiq_gripper/tree/humble) | [![Humble Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-binary-build-main.yml?branch=main) <br /> [![Humble Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-binary-build-testing.yml?branch=main) <br /> [![Humble Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-semi-binary-build-main.yml?branch=main) <br /> [![Humble Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-semi-binary-build-testing.yml?branch=main) <br /> [![Humble Source Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-source-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/humble-source-build.yml?branch=main) | [![Doxygen Doc Deployment](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml/badge.svg)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml) <br /> [Generated Doc](https://PickNikRobotics.github.io/ros2_robotiq_gripper_Documentation/humble/html/index.html) | [ros2_robotiq_gripper](https://index.ros.org/p/ros2_robotiq_gripper/#humble)
`rolling-testing` stays blocking: it is green today and has been this repo's de-facto Resolute gate.

## Build status
humble is absent because humble's `hardware_interface` has no `get_optional()`, which `main` requires. humble is served by the [`humble`](https://github.com/PickNikRobotics/ros2_robotiq_gripper/tree/humble) branch. Once `main` carries source-level distro guards per [moveit2#3751](https://github.com/moveit/moveit2/pull/3751), humble returns as one more matrix entry.

## Why the semi-binary jobs are now non-blocking

### Explanation of different build types
They used to be blocking, but only because the tier was inert: `ros2_robotiq_gripper.rolling.repos` was byte-identical to the `-not-released` one, so semi-binary was an exact duplicate of binary and could never fail independently.

**NOTE**: There are three build stages checking current and future compatibility of the package.
It now builds `ros2_control` from `master`, which is the difference the tier exists for — `ros2_control` is released, so binary gets it from apt while semi-binary gets the development branch. That means it can go red on upstream's schedule rather than ours, which should not block a PR here.

[Detailed build status](.github/workflows/README.md)
This is the tier that would have caught `LoanedCommandInterface::get_value()` being removed, instead of it surfacing as a buildfarm release failure ([#109](https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/109)).

1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
## Known-broken, tracked separately

Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
- **`ci-coverage-build.yml`** runs `ros-tooling/action-ros-ci` directly on a noble runner, outside a container, and has failed since Rolling moved to Resolute. Its own comment proposes the fix: move it inside `industrial_ci` with `OS_CODE_NAME: resolute`.
- **`rolling-source-build.yml`** fetches its `.repos` with the deprecated `?token=` URL syntax and gets an HTTP 404 on every run, so the source tier has never actually executed. One-line fix (drop the token — this is a public repo).

1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.

Uses repos file: `$NAME$.repos`

1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.

ROS2 Distro | Branch | Build status | Documentation | Released packages
:---------: | :----: | :----------: | :-----------: | :---------------:
**Iron** | [`iron`](https://github.com/PickNikRobotics/ros2_robotiq_gripper/tree/iron) | [![Iron Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-binary-build-main.yml?branch=main) <br /> [![Iron Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-binary-build-testing.yml?branch=main) <br /> [![Iron Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-semi-binary-build-main.yml?branch=main) <br /> [![Iron Semi-Binary Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-semi-binary-build-testing.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-semi-binary-build-testing.yml?branch=main) <br /> [![Iron Source Build](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-source-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/iron-source-build.yml?branch=main) | [![Doxygen Doc Deployment](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml/badge.svg)](https://github.com/PickNikRobotics/ros2_robotiq_gripper/actions/workflows/doxygen-deploy.yml) <br /> [Generated Doc](https://PickNikRobotics.github.io/ros2_robotiq_gripper_Documentation/iron/html/index.html) | [ros2_robotiq_gripper](https://index.ros.org/p/ros2_robotiq_gripper/#iron)

## Build status


### Explanation of different build types

**NOTE**: There are three build stages checking current and future compatibility of the package.

[Detailed build status](.github/workflows/README.md)

1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.

Uses repos file: `$NAME$-not-released.<ros-distro>.repos`

1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.

Uses repos file: `$NAME$.repos`

1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
Both are left alone here to keep this change scoped to distro coverage.
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