Merge branch 'main' into temp/attach_cart_with_open_door

Signed-off-by: Luca Della Vedova <[email protected]>

.github/workflows/asan.yaml

@@ -12,10 +12,7 @@ jobs:
     with:
       # NOTE: Avoid adding comments in the package lines, this can break some of the called scripts in github actions
       packages: |
-        rmf_building_sim_common
-        rmf_building_sim_gz_classic_plugins
         rmf_building_sim_gz_plugins
         rmf_robot_sim_common
-        rmf_robot_sim_gz_classic_plugins
         rmf_robot_sim_gz_plugins
-      dist-matrix: '[{"ros_distribution": "humble", "ubuntu_distribution": "jammy"}]'
+      dist-matrix: '[{"ros_distribution": "rolling", "ubuntu_distribution": "noble"}]'

.github/workflows/build.yaml

@@ -12,11 +12,7 @@ jobs:
     with:
       # NOTE: Avoid adding comments in the packages lines, this can break some of the called scripts in github actions
       packages: |
-        rmf_building_sim_common
-        rmf_building_sim_gz_classic_plugins
         rmf_building_sim_gz_plugins
         rmf_robot_sim_common
-        rmf_robot_sim_gz_classic_plugins
         rmf_robot_sim_gz_plugins
-      # Foxy and Galactic are deprecated for this package because of the dependency to old gazebo packages
-      dist-matrix: '[{"ros_distribution": "humble", "ubuntu_distribution": "jammy"}, {"ros_distribution": "rolling", "ubuntu_distribution": "jammy"}]'
+      dist-matrix: '[{"ros_distribution": "rolling", "ubuntu_distribution": "noble"}]'

.github/workflows/style.yaml

@@ -9,7 +9,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:humble-ros-base']
+        docker_image: ['ros:jazzy-ros-base']
     container:
       image: ${{ matrix.docker_image }}
     steps:

.github/workflows/tsan.yaml

@@ -7,45 +7,13 @@ on:
 jobs:
   tsan:
     name: tsan
-    runs-on: ubuntu-latest
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
-    steps:
-      - name: deps
-        uses: ros-tooling/[email protected]
-        with:
-          required-ros-distributions: humble
-      - name: install_clang
-        run: sudo apt update && sudo apt install -y clang clang-tools lld
-      - name: tsan_build_test
-        uses: ros-tooling/[email protected]
-        id: tsan_build_test
-        env:
-          CC: clang
-          CXX: clang++
-        with:
-          target-ros2-distro: humble
-          # build all packages listed in the meta package
-          package-name: |
-            rmf_building_sim_common
-            rmf_building_sim_gz_classic_plugins
-            rmf_building_sim_gz_plugins
-            rmf_robot_sim_common
-            rmf_robot_sim_gz_classic_plugins
-            rmf_robot_sim_gz_plugins
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["tsan", "lld"],
-                "cmake-args": ["-DCMAKE_BUILD_TYPE=Debug"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - name: upload_test_stream
-        uses: actions/upload-artifact@v2
-        with:
-          name: colcon-test-logs
-          path: ${{ steps.tsan_build_test.outputs.ros-workspace-directory-name }}/log
-        if: always()
+    uses: open-rmf/rmf_ci_templates/.github/workflows/reusable_build.yaml@main
+    with:
+      # NOTE: Avoid adding comments in the packages lines, this can break some of the called scripts in github actions
+      packages: |
+        rmf_building_sim_gz_plugins
+        rmf_robot_sim_common
+        rmf_robot_sim_gz_plugins
+      # Foxy and Galactic are deprecated for this package because of the dependency to old gazebo packages
+      dist-matrix: '[{"ros_distribution": "rolling", "ubuntu_distribution": "noble"}]'
+      mixin: tsan