Added lyrical CI (#854) (#858)

(cherry picked from commit 5c8faf9)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Author: 3 people

.github/workflows/ci-lyrical.yaml

@@ -0,0 +1,55 @@
+name: gz_ros2_control CI - Lyrical
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches: [ lyrical ]
+  push:
+    branches: [ lyrical ]
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 5 * * MON-FRI'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ros-distro: "lyrical"
+            ros-repo-packages: "-testing"
+            upstream-repos: "gz_ros2_control.lyrical.repos"
+          - ros-distro: "lyrical"
+            ros-repo-packages: "-testing"
+            upstream-repos: ""
+          - ros-distro: "lyrical"
+            ros-repo-packages: ""
+            upstream-repos: ""
+    env:
+      ROS_DISTRO: ${{ matrix.ros-distro }}
+    container:
+      image: ghcr.io/ros-controls/ros:${{ matrix.ros-distro }}-ubuntu${{ matrix.ros-repo-packages }}
+    steps:
+    - uses: actions/checkout@v6
+    - name: Checkout ros2_control framework for semi-binary builds
+      if: ${{ matrix.upstream-repos != '' }}
+      run: vcs import --input ${{ matrix.upstream-repos }}
+    - name: Setup colcon workspace
+      id: configure
+      shell: bash
+      run: |
+        apt-get update
+        rosdep update
+        rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO}
+    - name: Build project
+      id: build
+      run: |
+        . /opt/ros/${ROS_DISTRO}/local_setup.sh
+        colcon build --packages-up-to gz_ros2_control_demos gz_ros2_control_tests
+    - name: Run tests
+      id: test
+      run: |
+        . /opt/ros/${ROS_DISTRO}/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests
+        colcon test-result

.github/workflows/lyrical-check-docs.yml

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+name: Check Docs - Lyrical
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - lyrical
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.jpg'
+      - '**.jpeg'
+      - '**.png'
+      - '**.svg'
+      - '**.yml'
+      - '**.yaml'
+      - '!.github/**' # exclude yaml files in .github directory
+      - '.github/workflows/lyrical-check-docs.yml'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@lyrical
+    with:
+      GZ_ROS2_CONTROL_PR: ${{ github.ref }}

gz_ros2_control.lyrical.repos

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+repositories:
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: master
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master
+  ros-controls/ros2_control_cmake:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_cmake.git
+    version: master