Combine CI configs for galactic + rolling

- Use minimal moveit2.repos and additional version-specific *.repos
- Simplify naming of jobs

.github/workflows/build_and_test_rolling.yaml → .github/workflows/ci.yaml

@@ -1,7 +1,7 @@
 # This config uses industrial_ci (/~https://github.com/ros-industrial/industrial_ci.git).
 # For troubleshooting, see readme (/~https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-name: Build and Test (rolling)
+name: CI
 
 on:
   workflow_dispatch:
@@ -22,8 +22,12 @@ jobs:
             ROS_REPO: testing
             IKFAST_TEST: true
             CLANG_TIDY: true
+          - ROS_DISTRO: galactic
+            ROS_REPO: main
+          - ROS_DISTRO: galactic
+            ROS_REPO: testing
     env:
-      UPSTREAM_WORKSPACE: moveit2_rolling.repos
+      UPSTREAM_WORKSPACE: moveit2.repos moveit2_${{ matrix.env.ROS_DISTRO }}.repos
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
       BEFORE_TARGET_TEST_EMBED: ${{ matrix.env.IKFAST_TEST && 'set +u && source moveit_kinematics/test/test_ikfast_plugins.sh && set -u' || '' }}
       AFTER_RUN_TARGET_TEST: ${{ matrix.env.CCOV && './.ci.prepare_codecov' || '' }}
@@ -57,9 +61,9 @@ jobs:
         uses: pat-s/always-upload-cache@v2.1.5
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
-          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2_rolling.repos') }}-${{ github.run_id }}
+          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles(env.UPSTREAM_WORKSPACE) }}-${{ github.run_id }}
           restore-keys: |
-            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2_rolling.repos') }}
+            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles(env.UPSTREAM_WORKSPACE) }}
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws

.github/workflows/docker.yaml

@@ -2,7 +2,6 @@ name: docker
 
 on:
   workflow_dispatch:
-  pull_request:
   push:
     branches:
       - main

moveit2.repos

@@ -1,28 +1,8 @@
 repositories:
-  moveit_msgs:
-    type: git
-    url: /~https://github.com/ros-planning/moveit_msgs
-    version: ros2
-  moveit_resources:
-    type: git
-    url: /~https://github.com/ros-planning/moveit_resources
-    version: ros2
   geometric_shapes:
     type: git
     url: /~https://github.com/ros-planning/geometric_shapes
     version: ros2
-  srdfdom:
-    type: git
-    url: /~https://github.com/ros-planning/srdfdom
-    version: ros2
-  ros2_control:
-    type: git
-    url: /~https://github.com/ros-controls/ros2_control
-    version: master
-  ros2_controllers:
-    type: git
-    url: /~https://github.com/ros-controls/ros2_controllers
-    version: master
   warehouse_ros:
     type: git
     url: /~https://github.com/ros-planning/warehouse_ros