From a4dc4f5e878f51262a6fe1f4a62e0319a9979fbe Mon Sep 17 00:00:00 2001
From: Roland Arsenault <roland@ccom.unh.edu>
Date: Wed, 28 Feb 2024 09:55:07 -0500
Subject: [PATCH 1/2] Update ROS2 CI

---
 .github/workflows/ros2.yml | 51 ++++++++++++++++++++++----------------
 1 file changed, 30 insertions(+), 21 deletions(-)

diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
index 80a9df17..cb62866f 100644
--- a/.github/workflows/ros2.yml
+++ b/.github/workflows/ros2.yml
@@ -1,28 +1,37 @@
 name: ROS2 CI
-on:
+
+on: # this determines when this workflow is run
   push:
+    branches:
+      - ros2
   pull_request:
-  schedule:
-    - cron: "0 0 * * *"
+  workflow_dispatch: # allow manually starting this workflow
+
 jobs:
   industrial_ci:
-    strategy:
-      matrix:
-        env:
-          - ROS_DISTRO: foxy
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
-          - ROS_DISTRO: foxy
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release'
-          - ROS_DISTRO: galactic
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
-          - ROS_DISTRO: galactic
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release'
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
     runs-on: ubuntu-latest
+    strategy:
+      # fail-fast: false # uncomment if failing jobs should not cancel the others immediately
+      matrix: # matrix is the product of entries
+        ROS_DISTRO: [humble, iron, rolling]
+        ROS_REPO: [testing, main]
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
     steps:
-      - uses: actions/checkout@v1
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
+      - uses: actions/checkout@v3 # clone target repository
+      - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          # This configuration will always create a new ccache cache starting off from the previous one (if any).
+          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
+          # and might need some fine-tuning to match the use case
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
+        env: # either pass all entries explicitly
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+        # with: # or pass the full matrix as config
+        #    config: ${{toJSON(matrix)}}        
\ No newline at end of file

From e976bce2af8cefd533d63b36502ef9c08b10c670 Mon Sep 17 00:00:00 2001
From: Roland Arsenault <roland@ccom.unh.edu>
Date: Thu, 29 Feb 2024 08:21:45 -0500
Subject: [PATCH 2/2] Clean up per PR feedback

---
 .github/workflows/ros2.yml | 37 ++++++++++++-------------------------
 1 file changed, 12 insertions(+), 25 deletions(-)

diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
index cb62866f..2119c389 100644
--- a/.github/workflows/ros2.yml
+++ b/.github/workflows/ros2.yml
@@ -1,37 +1,24 @@
 name: ROS2 CI
-
-on: # this determines when this workflow is run
+on:
   push:
     branches:
       - ros2
   pull_request:
-  workflow_dispatch: # allow manually starting this workflow
-
+  schedule:
+    - cron: "0 0 * * *"
+  workflow_dispatch:
 jobs:
   industrial_ci:
-    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
-    runs-on: ubuntu-latest
     strategy:
-      # fail-fast: false # uncomment if failing jobs should not cancel the others immediately
-      matrix: # matrix is the product of entries
+      matrix:
         ROS_DISTRO: [humble, iron, rolling]
         ROS_REPO: [testing, main]
-    env:
-      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
+        CMAKE_ARGS: ['-DCMAKE_BUILD_TYPE=Debug', '-DCMAKE_BUILD_TYPE=Release']
+    runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3 # clone target repository
-      - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          # This configuration will always create a new ccache cache starting off from the previous one (if any).
-          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
-          # and might need some fine-tuning to match the use case
-          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
-          restore-keys: |
-            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
-      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
-        env: # either pass all entries explicitly
+      - uses: actions/checkout@v3
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
-          ROS_REPO: ${{ matrix.ROS_REPO }}
-        # with: # or pass the full matrix as config
-        #    config: ${{toJSON(matrix)}}        
\ No newline at end of file
+          ROS_REP: ${{ matrix.ROS_REPO }}
+          CMAKE_ARGS: ${{ matrix.CMAKE_ARGS }}