From d8313ff42f6866b761476dfc050bde348c5322d4 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 14 Jul 2026 11:24:32 +0000
Subject: [PATCH 01/11] Use a separate PR workflow with gates

---
 .../workflows/rolling-abi-compatibility.yml   |  14 --
 .github/workflows/rolling-binary-build.yml    |   3 +-
 .github/workflows/rolling-check-docs.yml      |  14 --
 ...ling-compatibility-humble-binary-build.yml |   3 +-
 ...lling-compatibility-jazzy-binary-build.yml |   3 +-
 ...ling-compatibility-kilted-binary-build.yml |   3 +-
 ...ing-compatibility-lyrical-binary-build.yml |   3 +-
 .github/workflows/rolling-coverage-build.yml  |   3 +-
 .github/workflows/rolling-debian-build.yml    |   3 +-
 .github/workflows/rolling-pr-gated-ci.yml     | 229 ++++++++++++++++++
 .github/workflows/rolling-pre-commit.yml      |   3 -
 .../workflows/rolling-rhel-binary-build.yml   |   3 +-
 .../rolling-semi-binary-build-win.yml         |   3 +-
 .../workflows/rolling-semi-binary-build.yml   |   3 +-
 .../rolling-semi-binary-downstream-build.yml  |  14 --
 15 files changed, 239 insertions(+), 65 deletions(-)
 create mode 100644 .github/workflows/rolling-pr-gated-ci.yml

diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index d71893a679..c3a2da4a0a 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,20 +1,6 @@
 name: Rolling - ABI Compatibility Check
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/rolling-abi-compatibility.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_control-not-released.rolling.repos'
-      - 'ros2_control-not-released.lyrical.repos'
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index bdf0fd7e34..548751afe2 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -4,7 +4,7 @@ name: Rolling Binary Build
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -18,7 +18,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
       - 'ros2_control-not-released.lyrical.repos'
-  push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * MON-FRI'
diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
index bac1a6dd86..c9ec0097dd 100644
--- a/.github/workflows/rolling-check-docs.yml
+++ b/.github/workflows/rolling-check-docs.yml
@@ -2,20 +2,6 @@ name: Rolling Check Docs
 
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-    paths:
-      - '**.rst'
-      - '**.md'
-      - '**.jpg'
-      - '**.jpeg'
-      - '**.png'
-      - '**.svg'
-      - '**.yml'
-      - '**.yaml'
-      - '!.github/**' # exclude yaml files in .github directory
-      - '.github/workflows/rolling-check-docs.yml'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
index a5bec4e952..a19dde5afa 100644
--- a/.github/workflows/rolling-compatibility-humble-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -4,7 +4,7 @@ name: Check Rolling Compatibility on Humble
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
index 01d8ba423f..40c30ac32d 100644
--- a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -4,7 +4,7 @@ name: Check Rolling Compatibility on Jazzy
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-compatibility-kilted-binary-build.yml b/.github/workflows/rolling-compatibility-kilted-binary-build.yml
index 45097e424e..14e9be0c7f 100644
--- a/.github/workflows/rolling-compatibility-kilted-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-kilted-binary-build.yml
@@ -4,7 +4,7 @@ name: Check Rolling Compatibility on Kilted
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-compatibility-lyrical-binary-build.yml b/.github/workflows/rolling-compatibility-lyrical-binary-build.yml
index 8f849cf1ba..0acd413431 100644
--- a/.github/workflows/rolling-compatibility-lyrical-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-lyrical-binary-build.yml
@@ -4,7 +4,7 @@ name: Check Rolling Compatibility on Lyrical
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index bef06d3622..4ecbf49047 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -1,7 +1,7 @@
 name: Coverage Build - Rolling
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -15,7 +15,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
       - 'codecov.yml'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index d02ad72ffb..35bed4f96e 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,7 +1,7 @@
 name: Rolling - Debian Semi-Binary Build
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -15,7 +15,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
       - 'ros2_control.lyrical.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
new file mode 100644
index 0000000000..c3d114e6b0
--- /dev/null
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -0,0 +1,229 @@
+name: Rolling PR Gated CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '**.yml'
+      - '**.rst'
+      - '**.md'
+      - '**.jpg'
+      - '**.jpeg'
+      - '**.png'
+      - '**.svg'
+      - '.github/workflows/rolling-pr-gated-ci.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+      - 'ros2_control.lyrical.repos'
+      - 'ros2_control-not-released.rolling.repos'
+      - 'ros2_control-not-released.lyrical.repos'
+      - 'ros_controls.rolling.repos'
+      - 'ros_controls.lyrical.repos'
+      - 'codecov.yml'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+
+  detect-docs-changes:
+    runs-on: ubuntu-latest
+    outputs:
+      docs_changed: ${{ steps.docs_changed.outputs.docs_changed }}
+    steps:
+      - id: filter
+        if: ${{ github.event_name == 'pull_request' }}
+        uses: dorny/paths-filter@v3
+        with:
+          filters: |
+            docs:
+              - '**.rst'
+              - '**.md'
+              - '**.jpg'
+              - '**.jpeg'
+              - '**.png'
+              - '**.svg'
+              - '**.yml'
+              - '**.yaml'
+              - '!.github/**'
+              - '.github/workflows/rolling-pr-gated-ci.yml'
+      - id: docs_changed
+        run: |
+          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            echo "docs_changed=true" >> "$GITHUB_OUTPUT"
+          else
+            echo "docs_changed=${{ steps.filter.outputs.docs }}" >> "$GITHUB_OUTPUT"
+          fi
+
+  check-docs:
+    name: Check Docs
+    needs: [detect-docs-changes]
+    if: ${{ needs.detect-docs-changes.outputs.docs_changed == 'true' }}
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@rolling
+    with:
+      ROS2_CONTROL_PR: ${{ github.ref }}
+
+  check-docs-noop:
+    needs: [detect-docs-changes]
+    if: ${{ needs.detect-docs-changes.outputs.docs_changed != 'true' }}
+    runs-on: ubuntu-latest
+    steps:
+      - run: echo "No docs changes detected. Skipping docs build."
+
+  docs-gate:
+    needs: [check-docs, check-docs-noop]
+    if: ${{ always() }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Validate docs gate
+        run: |
+          if [[ "${{ needs.check-docs.result }}" == "success" || "${{ needs.check-docs-noop.result }}" == "success" ]]; then
+            echo "Docs gate passed."
+            exit 0
+          fi
+          echo "Docs gate failed."
+          exit 1
+
+  semi-binary:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+
+  semi-binary-clang:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
+
+  build-downstream:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      not_test_build: true
+      downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      not_test_downstream: false
+
+  binary:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+        ROS_REPO: [main, testing]
+        exclude:
+          - ROS_DISTRO: rolling
+            ROS_REPO: main
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control-not-released.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+
+  coverage_rolling:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: rolling
+
+  compatibility-build:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, jazzy, kilted, lyrical]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      upstream_workspace: ros2_control.rolling.repos
+      ref_for_scheduled_build: master
+
+  abi_check:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+
+  debian_semi_binary_build:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+
+  rhel_semi_binary_build:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+
+  binary-windows:
+    needs: [pre-commit, docs-gate]
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
+    with:
+      ros_distro: rolling
+      pixi_dependencies: typeguard jinja2 boost compilers cpp-expected
+      upstream_workspace: ros2_control.rolling.repos
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 7b3fb229bd..3a2593040c 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -2,9 +2,6 @@ name: Pre-Commit - Rolling
 
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - master
   push:
     branches:
       - master
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index c16da77161..cfabde17a3 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,7 +1,7 @@
 name: Rolling - RHEL Semi-Binary Build
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -15,7 +15,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
       - 'ros2_control.lyrical.repos'
-  push: *event
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
   group: ${{ github.workflow }}-${{ github.ref }}
diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml
index e196ca3b47..25555dca2c 100644
--- a/.github/workflows/rolling-semi-binary-build-win.yml
+++ b/.github/workflows/rolling-semi-binary-build-win.yml
@@ -4,7 +4,7 @@ name: Rolling Windows Semi-Binary Build
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - 'ros2_control.rolling.repos'
       - '**/package.xml'
       - '**/CMakeLists.txt'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 42cd8664c0..3e0d1e0946 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -4,7 +4,7 @@ name: Rolling Semi-Binary Build
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -18,7 +18,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
       - 'ros2_control.lyrical.repos'
-  push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * MON-FRI'
diff --git a/.github/workflows/rolling-semi-binary-downstream-build.yml b/.github/workflows/rolling-semi-binary-downstream-build.yml
index e011356196..9edf461489 100644
--- a/.github/workflows/rolling-semi-binary-downstream-build.yml
+++ b/.github/workflows/rolling-semi-binary-downstream-build.yml
@@ -4,20 +4,6 @@ name: Rolling Downstream Build
 
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/rolling-semi-binary-downstream-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros_controls.rolling.repos'
-      - 'ros_controls.lyrical.repos'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}

From b5ffa4f1493b742e789836a2461501607381a8df Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 14 Jul 2026 11:38:00 +0000
Subject: [PATCH 02/11] Fix gate of matrix strategy

---
 .github/workflows/rolling-pr-gated-ci.yml | 47 +++++++++++++++--------
 1 file changed, 31 insertions(+), 16 deletions(-)

diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index c3d114e6b0..79514d06a8 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -34,14 +34,29 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  pre-commit:
+  pre-commit-rolling:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [lyrical, rolling]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_distro: rolling
+
+  pre-commit-lyrical:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: lyrical
+
+  pre-commit-gate:
+    needs: [pre-commit-rolling, pre-commit-lyrical]
+    if: ${{ always() }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Validate pre-commit gate
+        run: |
+          if [[ "${{ needs.pre-commit-rolling.result }}" == "success" && "${{ needs.pre-commit-lyrical.result }}" == "success" ]]; then
+            echo "Pre-commit gate passed."
+            exit 0
+          fi
+          echo "Pre-commit gate failed."
+          exit 1
 
   detect-docs-changes:
     runs-on: ubuntu-latest
@@ -102,7 +117,7 @@ jobs:
           exit 1
 
   semi-binary:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -115,7 +130,7 @@ jobs:
       ref_for_scheduled_build: master
 
   semi-binary-clang:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -132,7 +147,7 @@ jobs:
       not_test_build: true
 
   build-downstream:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -148,7 +163,7 @@ jobs:
       not_test_downstream: false
 
   binary:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -165,14 +180,14 @@ jobs:
       ref_for_scheduled_build: master
 
   coverage_rolling:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
     secrets: inherit
     with:
       ros_distro: rolling
 
   compatibility-build:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -185,7 +200,7 @@ jobs:
       ref_for_scheduled_build: master
 
   abi_check:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
     strategy:
       fail-fast: false
@@ -195,7 +210,7 @@ jobs:
       ros_distro: ${{ matrix.ROS_DISTRO }}
 
   debian_semi_binary_build:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
     strategy:
       fail-fast: false
@@ -208,7 +223,7 @@ jobs:
       skip_packages: rqt_controller_manager
 
   rhel_semi_binary_build:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
     strategy:
       fail-fast: false
@@ -221,7 +236,7 @@ jobs:
       skip_packages: rqt_controller_manager
 
   binary-windows:
-    needs: [pre-commit, docs-gate]
+    needs: [pre-commit-gate, docs-gate]
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
     with:
       ros_distro: rolling

From dc8915f952872b3dbaf7ef97df74076a5119cfcc Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 14 Jul 2026 11:50:21 +0000
Subject: [PATCH 03/11] Use a single quality gate

---
 .github/workflows/rolling-pr-gated-ci.yml | 57 ++++++++++++-----------
 1 file changed, 29 insertions(+), 28 deletions(-)

diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index 79514d06a8..af75d46796 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -44,20 +44,6 @@ jobs:
     with:
       ros_distro: lyrical
 
-  pre-commit-gate:
-    needs: [pre-commit-rolling, pre-commit-lyrical]
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Validate pre-commit gate
-        run: |
-          if [[ "${{ needs.pre-commit-rolling.result }}" == "success" && "${{ needs.pre-commit-lyrical.result }}" == "success" ]]; then
-            echo "Pre-commit gate passed."
-            exit 0
-          fi
-          echo "Pre-commit gate failed."
-          exit 1
-
   detect-docs-changes:
     runs-on: ubuntu-latest
     outputs:
@@ -102,22 +88,28 @@ jobs:
     steps:
       - run: echo "No docs changes detected. Skipping docs build."
 
-  docs-gate:
-    needs: [check-docs, check-docs-noop]
+  quality-gate:
+    needs: [pre-commit-rolling, pre-commit-lyrical, check-docs, check-docs-noop]
     if: ${{ always() }}
     runs-on: ubuntu-latest
     steps:
-      - name: Validate docs gate
+      - name: Validate quality gate
         run: |
+          if [[ "${{ needs.pre-commit-rolling.result }}" != "success" || "${{ needs.pre-commit-lyrical.result }}" != "success" ]]; then
+            echo "Pre-commit gate failed."
+            exit 1
+          fi
+
           if [[ "${{ needs.check-docs.result }}" == "success" || "${{ needs.check-docs-noop.result }}" == "success" ]]; then
-            echo "Docs gate passed."
+            echo "Quality gate passed."
             exit 0
           fi
           echo "Docs gate failed."
           exit 1
 
   semi-binary:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -130,7 +122,8 @@ jobs:
       ref_for_scheduled_build: master
 
   semi-binary-clang:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -147,7 +140,8 @@ jobs:
       not_test_build: true
 
   build-downstream:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -163,7 +157,8 @@ jobs:
       not_test_downstream: false
 
   binary:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -180,14 +175,16 @@ jobs:
       ref_for_scheduled_build: master
 
   coverage_rolling:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
     secrets: inherit
     with:
       ros_distro: rolling
 
   compatibility-build:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -200,7 +197,8 @@ jobs:
       ref_for_scheduled_build: master
 
   abi_check:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
     strategy:
       fail-fast: false
@@ -210,7 +208,8 @@ jobs:
       ros_distro: ${{ matrix.ROS_DISTRO }}
 
   debian_semi_binary_build:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
     strategy:
       fail-fast: false
@@ -223,7 +222,8 @@ jobs:
       skip_packages: rqt_controller_manager
 
   rhel_semi_binary_build:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
     strategy:
       fail-fast: false
@@ -236,7 +236,8 @@ jobs:
       skip_packages: rqt_controller_manager
 
   binary-windows:
-    needs: [pre-commit-gate, docs-gate]
+    needs: [quality-gate]
+    if: ${{ needs.quality-gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
     with:
       ros_distro: rolling

From db267844a93493cca40877957607299f1c7e61af Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 14 Jul 2026 11:59:59 +0000
Subject: [PATCH 04/11] Fix expression parsing

---
 .github/workflows/rolling-pr-gated-ci.yml | 66 +++++++++++------------
 1 file changed, 33 insertions(+), 33 deletions(-)

diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index af75d46796..c1a8f63509 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -34,17 +34,17 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  pre-commit-rolling:
+  pre_commit_rolling:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: rolling
 
-  pre-commit-lyrical:
+  pre_commit_lyrical:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: lyrical
 
-  detect-docs-changes:
+  detect_docs_changes:
     runs-on: ubuntu-latest
     outputs:
       docs_changed: ${{ steps.docs_changed.outputs.docs_changed }}
@@ -73,34 +73,34 @@ jobs:
             echo "docs_changed=${{ steps.filter.outputs.docs }}" >> "$GITHUB_OUTPUT"
           fi
 
-  check-docs:
+  check_docs:
     name: Check Docs
-    needs: [detect-docs-changes]
-    if: ${{ needs.detect-docs-changes.outputs.docs_changed == 'true' }}
+    needs: [detect_docs_changes]
+    if: ${{ needs.detect_docs_changes.outputs.docs_changed == 'true' }}
     uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@rolling
     with:
       ROS2_CONTROL_PR: ${{ github.ref }}
 
-  check-docs-noop:
-    needs: [detect-docs-changes]
-    if: ${{ needs.detect-docs-changes.outputs.docs_changed != 'true' }}
+  check_docs_noop:
+    needs: [detect_docs_changes]
+    if: ${{ needs.detect_docs_changes.outputs.docs_changed != 'true' }}
     runs-on: ubuntu-latest
     steps:
       - run: echo "No docs changes detected. Skipping docs build."
 
-  quality-gate:
-    needs: [pre-commit-rolling, pre-commit-lyrical, check-docs, check-docs-noop]
+  quality_gate:
+    needs: [pre_commit_rolling, pre_commit_lyrical, check_docs, check_docs_noop]
     if: ${{ always() }}
     runs-on: ubuntu-latest
     steps:
       - name: Validate quality gate
         run: |
-          if [[ "${{ needs.pre-commit-rolling.result }}" != "success" || "${{ needs.pre-commit-lyrical.result }}" != "success" ]]; then
+          if [[ "${{ needs.pre_commit_rolling.result }}" != "success" || "${{ needs.pre_commit_lyrical.result }}" != "success" ]]; then
             echo "Pre-commit gate failed."
             exit 1
           fi
 
-          if [[ "${{ needs.check-docs.result }}" == "success" || "${{ needs.check-docs-noop.result }}" == "success" ]]; then
+          if [[ "${{ needs.check_docs.result }}" == "success" || "${{ needs.check_docs_noop.result }}" == "success" ]]; then
             echo "Quality gate passed."
             exit 0
           fi
@@ -108,8 +108,8 @@ jobs:
           exit 1
 
   semi-binary:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -122,8 +122,8 @@ jobs:
       ref_for_scheduled_build: master
 
   semi-binary-clang:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -140,8 +140,8 @@ jobs:
       not_test_build: true
 
   build-downstream:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -157,8 +157,8 @@ jobs:
       not_test_downstream: false
 
   binary:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -175,16 +175,16 @@ jobs:
       ref_for_scheduled_build: master
 
   coverage_rolling:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
     secrets: inherit
     with:
       ros_distro: rolling
 
   compatibility-build:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -197,8 +197,8 @@ jobs:
       ref_for_scheduled_build: master
 
   abi_check:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
     strategy:
       fail-fast: false
@@ -208,8 +208,8 @@ jobs:
       ros_distro: ${{ matrix.ROS_DISTRO }}
 
   debian_semi_binary_build:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
     strategy:
       fail-fast: false
@@ -222,8 +222,8 @@ jobs:
       skip_packages: rqt_controller_manager
 
   rhel_semi_binary_build:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
     strategy:
       fail-fast: false
@@ -236,8 +236,8 @@ jobs:
       skip_packages: rqt_controller_manager
 
   binary-windows:
-    needs: [quality-gate]
-    if: ${{ needs.quality-gate.result == 'success' }}
+    needs: [quality_gate]
+    if: ${{ needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
     with:
       ros_distro: rolling

From ec44f9b0f8eb4f916d68e46fdc1929af3fd3a896 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 14 Jul 2026 12:25:18 +0000
Subject: [PATCH 05/11] Try another fix

---
 .github/workflows/rolling-pr-gated-ci.yml | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index c1a8f63509..d056045a59 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -109,7 +109,7 @@ jobs:
 
   semi-binary:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -123,7 +123,7 @@ jobs:
 
   semi-binary-clang:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -141,7 +141,7 @@ jobs:
 
   build-downstream:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -158,7 +158,7 @@ jobs:
 
   binary:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -176,7 +176,7 @@ jobs:
 
   coverage_rolling:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
     secrets: inherit
     with:
@@ -184,7 +184,7 @@ jobs:
 
   compatibility-build:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -198,7 +198,7 @@ jobs:
 
   abi_check:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
     strategy:
       fail-fast: false
@@ -209,7 +209,7 @@ jobs:
 
   debian_semi_binary_build:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
     strategy:
       fail-fast: false
@@ -223,7 +223,7 @@ jobs:
 
   rhel_semi_binary_build:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
     strategy:
       fail-fast: false
@@ -237,7 +237,7 @@ jobs:
 
   binary-windows:
     needs: [quality_gate]
-    if: ${{ needs.quality_gate.result == 'success' }}
+    if: ${{ always() && needs.quality_gate.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
     with:
       ros_distro: rolling

From bebbacbcae31b27fcb0bd5a734e93647adb987ce Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 22 Jul 2026 05:24:54 +0000
Subject: [PATCH 06/11] Move the docs check to its own file again

---
 .github/workflows/rolling-check-docs.yml  | 14 +++++
 .github/workflows/rolling-pr-gated-ci.yml | 62 ++---------------------
 2 files changed, 17 insertions(+), 59 deletions(-)

diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
index c9ec0097dd..bac1a6dd86 100644
--- a/.github/workflows/rolling-check-docs.yml
+++ b/.github/workflows/rolling-check-docs.yml
@@ -2,6 +2,20 @@ name: Rolling Check Docs
 
 on:
   workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.jpg'
+      - '**.jpeg'
+      - '**.png'
+      - '**.svg'
+      - '**.yml'
+      - '**.yaml'
+      - '!.github/**' # exclude yaml files in .github directory
+      - '.github/workflows/rolling-check-docs.yml'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index d056045a59..1267821d42 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -11,13 +11,6 @@ on:
       - '**.cpp'
       - '**.py'
       - '**.yaml'
-      - '**.yml'
-      - '**.rst'
-      - '**.md'
-      - '**.jpg'
-      - '**.jpeg'
-      - '**.png'
-      - '**.svg'
       - '.github/workflows/rolling-pr-gated-ci.yml'
       - '**/package.xml'
       - '**/CMakeLists.txt'
@@ -44,52 +37,8 @@ jobs:
     with:
       ros_distro: lyrical
 
-  detect_docs_changes:
-    runs-on: ubuntu-latest
-    outputs:
-      docs_changed: ${{ steps.docs_changed.outputs.docs_changed }}
-    steps:
-      - id: filter
-        if: ${{ github.event_name == 'pull_request' }}
-        uses: dorny/paths-filter@v3
-        with:
-          filters: |
-            docs:
-              - '**.rst'
-              - '**.md'
-              - '**.jpg'
-              - '**.jpeg'
-              - '**.png'
-              - '**.svg'
-              - '**.yml'
-              - '**.yaml'
-              - '!.github/**'
-              - '.github/workflows/rolling-pr-gated-ci.yml'
-      - id: docs_changed
-        run: |
-          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
-            echo "docs_changed=true" >> "$GITHUB_OUTPUT"
-          else
-            echo "docs_changed=${{ steps.filter.outputs.docs }}" >> "$GITHUB_OUTPUT"
-          fi
-
-  check_docs:
-    name: Check Docs
-    needs: [detect_docs_changes]
-    if: ${{ needs.detect_docs_changes.outputs.docs_changed == 'true' }}
-    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@rolling
-    with:
-      ROS2_CONTROL_PR: ${{ github.ref }}
-
-  check_docs_noop:
-    needs: [detect_docs_changes]
-    if: ${{ needs.detect_docs_changes.outputs.docs_changed != 'true' }}
-    runs-on: ubuntu-latest
-    steps:
-      - run: echo "No docs changes detected. Skipping docs build."
-
   quality_gate:
-    needs: [pre_commit_rolling, pre_commit_lyrical, check_docs, check_docs_noop]
+    needs: [pre_commit_rolling, pre_commit_lyrical]
     if: ${{ always() }}
     runs-on: ubuntu-latest
     steps:
@@ -99,13 +48,8 @@ jobs:
             echo "Pre-commit gate failed."
             exit 1
           fi
-
-          if [[ "${{ needs.check_docs.result }}" == "success" || "${{ needs.check_docs_noop.result }}" == "success" ]]; then
-            echo "Quality gate passed."
-            exit 0
-          fi
-          echo "Docs gate failed."
-          exit 1
+          echo "Quality gate passed."
+          exit 0
 
   semi-binary:
     needs: [quality_gate]

From 3d01982074d09ab1f5c67b7fa85951a844dfd260 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 22 Jul 2026 05:41:32 +0000
Subject: [PATCH 07/11] Gate the downstream jobs

---
 .github/workflows/rolling-pr-gated-ci.yml | 63 +++++++++++++++++------
 1 file changed, 46 insertions(+), 17 deletions(-)

diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index 1267821d42..beaa20e28b 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -83,23 +83,6 @@ jobs:
       cxx_compiler: clang++
       not_test_build: true
 
-  build-downstream:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [lyrical, rolling]
-    with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: testing
-      ref_for_scheduled_build: master
-      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
-      not_test_build: true
-      downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
-      not_test_downstream: false
-
   binary:
     needs: [quality_gate]
     if: ${{ always() && needs.quality_gate.result == 'success' }}
@@ -151,6 +134,35 @@ jobs:
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
 
+  ubuntu_gate:
+    needs: [semi-binary, semi-binary-clang, binary, coverage_rolling, compatibility-build]
+    if: ${{ always() }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Validate Ubuntu gate
+        run: |
+          if [[ "${{ needs.semi-binary.result }}" != "success" ]]; then
+            echo "semi-binary failed"
+            exit 1
+          fi
+          if [[ "${{ needs.semi-binary-clang.result }}" != "success" ]]; then
+            echo "semi-binary-clang failed"
+            exit 1
+          fi
+          if [[ "${{ needs.binary.result }}" != "success" ]]; then
+            echo "binary failed"
+            exit 1
+          fi
+          if [[ "${{ needs.coverage_rolling.result }}" != "success" ]]; then
+            echo "coverage_rolling failed"
+            exit 1
+          fi
+          if [[ "${{ needs.compatibility-build.result }}" != "success" ]]; then
+            echo "compatibility-build failed"
+            exit 1
+          fi
+          echo "Ubuntu gate passed."
+
   debian_semi_binary_build:
     needs: [quality_gate]
     if: ${{ always() && needs.quality_gate.result == 'success' }}
@@ -187,3 +199,20 @@ jobs:
       ros_distro: rolling
       pixi_dependencies: typeguard jinja2 boost compilers cpp-expected
       upstream_workspace: ros2_control.rolling.repos
+
+  build-downstream:
+    needs: [ubuntu_gate]
+    if: ${{ always() && needs.ubuntu_gate.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      not_test_build: true
+      downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      not_test_downstream: false

From 22c4b8ee91ef3c0ad14f3f0cb3c28d62ecaa4bf5 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 22 Jul 2026 05:55:11 +0000
Subject: [PATCH 08/11] Simplify layout

---
 .github/workflows/rolling-pr-gated-ci.yml | 33 ++---------------------
 1 file changed, 2 insertions(+), 31 deletions(-)

diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index beaa20e28b..9ae149b953 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -134,35 +134,6 @@ jobs:
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
 
-  ubuntu_gate:
-    needs: [semi-binary, semi-binary-clang, binary, coverage_rolling, compatibility-build]
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Validate Ubuntu gate
-        run: |
-          if [[ "${{ needs.semi-binary.result }}" != "success" ]]; then
-            echo "semi-binary failed"
-            exit 1
-          fi
-          if [[ "${{ needs.semi-binary-clang.result }}" != "success" ]]; then
-            echo "semi-binary-clang failed"
-            exit 1
-          fi
-          if [[ "${{ needs.binary.result }}" != "success" ]]; then
-            echo "binary failed"
-            exit 1
-          fi
-          if [[ "${{ needs.coverage_rolling.result }}" != "success" ]]; then
-            echo "coverage_rolling failed"
-            exit 1
-          fi
-          if [[ "${{ needs.compatibility-build.result }}" != "success" ]]; then
-            echo "compatibility-build failed"
-            exit 1
-          fi
-          echo "Ubuntu gate passed."
-
   debian_semi_binary_build:
     needs: [quality_gate]
     if: ${{ always() && needs.quality_gate.result == 'success' }}
@@ -201,8 +172,8 @@ jobs:
       upstream_workspace: ros2_control.rolling.repos
 
   build-downstream:
-    needs: [ubuntu_gate]
-    if: ${{ always() && needs.ubuntu_gate.result == 'success' }}
+    needs: [semi-binary, semi-binary-clang, binary, coverage_rolling, compatibility-build]
+    if: ${{ always() && needs['semi-binary'].result == 'success' && needs['semi-binary-clang'].result == 'success' && needs.binary.result == 'success' && needs.coverage_rolling.result == 'success' && needs['compatibility-build'].result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false

From 91e8987062ea12fefe255167fb9b74e245ee93f2 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 22 Jul 2026 06:17:32 +0000
Subject: [PATCH 09/11] Simplify gating

---
 .github/workflows/rolling-pr-gated-ci.yml | 50 ++++++++---------------
 1 file changed, 18 insertions(+), 32 deletions(-)

diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index 9ae149b953..aa1e95b10b 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -37,23 +37,9 @@ jobs:
     with:
       ros_distro: lyrical
 
-  quality_gate:
-    needs: [pre_commit_rolling, pre_commit_lyrical]
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Validate quality gate
-        run: |
-          if [[ "${{ needs.pre_commit_rolling.result }}" != "success" || "${{ needs.pre_commit_lyrical.result }}" != "success" ]]; then
-            echo "Pre-commit gate failed."
-            exit 1
-          fi
-          echo "Quality gate passed."
-          exit 0
-
   semi-binary:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -66,8 +52,8 @@ jobs:
       ref_for_scheduled_build: master
 
   semi-binary-clang:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -84,8 +70,8 @@ jobs:
       not_test_build: true
 
   binary:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -102,16 +88,16 @@ jobs:
       ref_for_scheduled_build: master
 
   coverage_rolling:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
     secrets: inherit
     with:
       ros_distro: rolling
 
   compatibility-build:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -124,8 +110,8 @@ jobs:
       ref_for_scheduled_build: master
 
   abi_check:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
     strategy:
       fail-fast: false
@@ -135,8 +121,8 @@ jobs:
       ros_distro: ${{ matrix.ROS_DISTRO }}
 
   debian_semi_binary_build:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
     strategy:
       fail-fast: false
@@ -149,8 +135,8 @@ jobs:
       skip_packages: rqt_controller_manager
 
   rhel_semi_binary_build:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
     strategy:
       fail-fast: false
@@ -163,8 +149,8 @@ jobs:
       skip_packages: rqt_controller_manager
 
   binary-windows:
-    needs: [quality_gate]
-    if: ${{ always() && needs.quality_gate.result == 'success' }}
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
     with:
       ros_distro: rolling

From c77a881b836f3d8e70662331f260a6940dccfc89 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 22 Jul 2026 07:53:29 +0000
Subject: [PATCH 10/11] Only skip downstream jobs if build already fails

---
 .github/workflows/rolling-pr-gated-ci.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index aa1e95b10b..f529b9c55b 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -40,7 +40,7 @@ jobs:
   semi-binary:
     needs: [pre_commit_rolling, pre_commit_lyrical]
     if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
     strategy:
       fail-fast: false
       matrix:
@@ -54,7 +54,7 @@ jobs:
   semi-binary-clang:
     needs: [pre_commit_rolling, pre_commit_lyrical]
     if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
     strategy:
       fail-fast: false
       matrix:
@@ -72,7 +72,7 @@ jobs:
   binary:
     needs: [pre_commit_rolling, pre_commit_lyrical]
     if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
     strategy:
       fail-fast: false
       matrix:
@@ -98,7 +98,7 @@ jobs:
   compatibility-build:
     needs: [pre_commit_rolling, pre_commit_lyrical]
     if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
     strategy:
       fail-fast: false
       matrix:
@@ -159,8 +159,8 @@ jobs:
 
   build-downstream:
     needs: [semi-binary, semi-binary-clang, binary, coverage_rolling, compatibility-build]
-    if: ${{ always() && needs['semi-binary'].result == 'success' && needs['semi-binary-clang'].result == 'success' && needs.binary.result == 'success' && needs.coverage_rolling.result == 'success' && needs['compatibility-build'].result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    if: ${{ always() && needs['semi-binary'].outputs.build_target_workspace_succeeded == 'true' && needs['semi-binary-clang'].outputs.build_target_workspace_succeeded == 'true' && needs.binary.outputs.build_target_workspace_succeeded == 'true' && needs.coverage_rolling.result == 'success' && needs['compatibility-build'].outputs.build_target_workspace_succeeded == 'true' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
     strategy:
       fail-fast: false
       matrix:

From 5194e1f7abd54be6f9a2603d276492b0f7240a23 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 22 Jul 2026 10:40:20 +0000
Subject: [PATCH 11/11] Use master branch of ci repo again

---
 .github/workflows/rolling-pr-gated-ci.yml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
index f529b9c55b..dd2d5a7838 100644
--- a/.github/workflows/rolling-pr-gated-ci.yml
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -40,7 +40,7 @@ jobs:
   semi-binary:
     needs: [pre_commit_rolling, pre_commit_lyrical]
     if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
       matrix:
@@ -54,7 +54,7 @@ jobs:
   semi-binary-clang:
     needs: [pre_commit_rolling, pre_commit_lyrical]
     if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
       matrix:
@@ -72,7 +72,7 @@ jobs:
   binary:
     needs: [pre_commit_rolling, pre_commit_lyrical]
     if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
       matrix:
@@ -98,7 +98,7 @@ jobs:
   compatibility-build:
     needs: [pre_commit_rolling, pre_commit_lyrical]
     if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
       matrix:
@@ -160,7 +160,7 @@ jobs:
   build-downstream:
     needs: [semi-binary, semi-binary-clang, binary, coverage_rolling, compatibility-build]
     if: ${{ always() && needs['semi-binary'].outputs.build_target_workspace_succeeded == 'true' && needs['semi-binary-clang'].outputs.build_target_workspace_succeeded == 'true' && needs.binary.outputs.build_target_workspace_succeeded == 'true' && needs.coverage_rolling.result == 'success' && needs['compatibility-build'].outputs.build_target_workspace_succeeded == 'true' }}
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@ici-output
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
       matrix: