From b3289de7f0a1d5951f3be157b6bd8969b6fdf9b7 Mon Sep 17 00:00:00 2001
From: GyuH13 <gyu@robotis.com>
Date: Wed, 5 Feb 2025 10:44:03 +0900
Subject: [PATCH] change ci and lint

---
 .github/workflows/ros-ci.yml    | 46 ++++++++++++++++-----------------
 .github/workflows/ros-lint.yml  | 30 +++++++++++++++++++++
 turtlebot3_simulations_ci.repos |  8 +++---
 3 files changed, 57 insertions(+), 27 deletions(-)
 create mode 100644 .github/workflows/ros-lint.yml

diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 6e8d6e6..674b990 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -1,39 +1,34 @@
-name: humble
+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: [ main, humble ]
   pull_request:
     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:
-    runs-on: ubuntu-latest
+  # The name of the job
+  ROS_CI:
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
         ros_distribution:
-          #- foxy
-          # - galactic
           - humble
           # - rolling
         include:
-            # 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)
           - 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:
@@ -41,18 +36,23 @@ jobs:
     steps:
       - name: Setup directories
         run: mkdir -p ros_ws/src
+
       - name: checkout
-        uses: actions/checkout@v3
+        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@0.7
         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@0.3
         with:
-          package-name: turtlebot3_simulations
+
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3_simulations/ros2-devel/turtlebot3_simulations_ci.repos"
-  
+          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3_simulations/main/turtlebot3_simulations_ci.repos"
+          package-name: |
+          turtlebot3_simulations
+          turtlebot3_gazebo
+          turtlebot3_fake_node
diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
new file mode 100644
index 0000000..e259c6d
--- /dev/null
+++ b/.github/workflows/ros-lint.yml
@@ -0,0 +1,30 @@
+# 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
+        uses: ros-tooling/action-ros-lint@master
+        with:
+          linter: ${{ matrix.linter }}
+          distribution: rolling
+          package-name: "*"
diff --git a/turtlebot3_simulations_ci.repos b/turtlebot3_simulations_ci.repos
index be0e451..bf70345 100644
--- a/turtlebot3_simulations_ci.repos
+++ b/turtlebot3_simulations_ci.repos
@@ -2,16 +2,16 @@ repositories:
   turtlebot3/turtlebot3:
     type: git
     url: https://github.com/ROBOTIS-GIT/turtlebot3.git
-    version: ros2-devel
+    version: main
   turtlebot3/turtlebot3_msgs:
     type: git
     url: https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
-    version: ros2-devel
+    version: main
   utils/DynamixelSDK:
     type: git
     url: https://github.com/ROBOTIS-GIT/DynamixelSDK.git
-    version: ros2-devel
+    version: main
   utils/hls_lfcd_lds_driver:
     type: git
     url: https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
-    version: ros2-devel
+    version: main