From 2449cbf6344711981bc8f89a2db5b1544256bef1 Mon Sep 17 00:00:00 2001
From: Wonho Yun <ywh@robotis.com>
Date: Tue, 18 Feb 2025 17:00:22 +0900
Subject: [PATCH] Added CI and Lint

Signed-off-by: Wonho Yun <ywh@robotis.com>
---
 .github/workflows/ros-ci.yaml  | 57 ++++++++++++++++------------------
 .github/workflows/ros-lint.yml | 32 +++++++++++++++++++
 2 files changed, 58 insertions(+), 31 deletions(-)
 create mode 100644 .github/workflows/ros-lint.yml

diff --git a/.github/workflows/ros-ci.yaml b/.github/workflows/ros-ci.yaml
index 5456138..92a7bb3 100644
--- a/.github/workflows/ros-ci.yaml
+++ b/.github/workflows/ros-ci.yaml
@@ -1,62 +1,57 @@
-name: humble-devel
+# The name of the workflow
+name: CI
 
-# Controls when the action will run. Triggers the workflow on push or pull request
+# Specifies the events that trigger the workflow
 on:
   push:
-    branches: [ humble-devel ]
+    branches: [ main, humble ]
   pull_request:
-    branches: [ humble-devel ]
+    branches: [ main, humble ]
 
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+# Defines a set of jobs to be run as part of the workflow
 jobs:
-  humble-devel:
-    runs-on: ubuntu-latest
+  # The name of the job
+  ROS_CI:
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         ros_distribution:
-          # - dashing
-          # - foxy
-          # - galactic
           - humble
+          # - jazzy
           # - rolling
         include:
-          #  # Dashing Diademata (May 2019 - May 2021)
-          # - docker_image: ubuntu:bionic
-          #   ros_distribution: dashing
-          #   ros_version: 2
-          #  # Foxy Fitzroy (June 2020 - May 2023)
-          # - docker_image: ubuntu:focal
-          #   ros_distribution: foxy
-          #   ros_version: 2
-          #   # Galactic Geochelone (May 2021)
-          # - docker_image: ubuntu:focal
-          #   ros_distribution: galactic
-          #   ros_version: 2
-            # Humble Hawksbill (May 2027)
+          # ROS 2 Humble Hawksbill
           - docker_image: ubuntu:jammy
             ros_distribution: humble
             ros_version: 2
-          #   # Rolling
-          # - docker_image: ubuntu:jammy
+          # ROS 2 Jazzy Jalisco
+          # - docker_image: ubuntu:noble
+          #   ros_distribution: jazzy
+          #   ros_version: 2
+          # ROS 2 Rolling Ridley
+          # - docker_image: ubuntu:noble
           #   ros_distribution: rolling
           #   ros_version: 2
     container:
       image: ${{ matrix.docker_image }}
     steps:
-      - name: Setup directories
+      - name: Setup workspace
         run: mkdir -p ros_ws/src
-      - name: checkout
-        uses: actions/checkout@v3
+
+      - name: Checkout code
+        uses: actions/checkout@v4
         with:
           path: ros_ws/src
+
       - name: Setup ROS environment
-        uses: ros-tooling/setup-ros@0.3.3
+        uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
+
       - name: Build and Test
-        uses: ros-tooling/action-ros-ci@0.2.5
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
-          package-name: turtlebot3_msgs
           target-ros2-distro: ${{ matrix.ros_distribution }}
           vcs-repo-file-url: ""
+          package-name: turtlebot3_msgs
diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
new file mode 100644
index 0000000..c6eb5be
--- /dev/null
+++ b/.github/workflows/ros-lint.yml
@@ -0,0 +1,32 @@
+# The name of the workflow
+name: Lint
+
+# Specifies the events that trigger the workflow
+on:
+  pull_request:
+
+# Defines a set of jobs to be run as part of the workflow
+jobs:
+  ament_lint:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        linter: [cppcheck, cpplint, uncrustify, flake8, pep257, lint_cmake, xmllint, copyright]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+
+      - name: Run Linter
+        env:
+          AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          linter: ${{ matrix.linter }}
+          distribution: rolling
+          package-name: "*"