[CI] Add clang job, setup concurrency, use rt_tools humble branch (backport #1910)

.github/workflows/humble-abi-compatibility.yml

@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.humble.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest

.github/workflows/humble-binary-build.yml

@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master

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

@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs

.github/workflows/humble-coverage-build.yml

@@ -28,6 +28,11 @@ on:
       - 'ros2_control.humble.repos'
       - 'codecov.yml'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master

.github/workflows/humble-debian-build.yml

@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:

.github/workflows/humble-pre-commit.yml

@@ -6,6 +6,10 @@ on:
     branches:
       - humble
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master

.github/workflows/humble-rhel-binary-build.yml

@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   rhel_semi_binary_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master

.github/workflows/humble-semi-binary-build.yml

@@ -1,6 +1,6 @@
 name: Humble Semi-Binary Build
 # author: Denis Štogl <[email protected]>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,14 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_control.humble.repos
+      ref_for_scheduled_build: humble
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true

.github/workflows/jazzy-abi-compatibility.yml

@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.jazzy.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest

.github/workflows/jazzy-binary-build.yml

@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master

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

@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs

.github/workflows/jazzy-debian-build.yml

@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:

.github/workflows/jazzy-pre-commit.yml

@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master

.github/workflows/jazzy-rhel-binary-build.yml

@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   rhel_semi_binary_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master

.github/workflows/jazzy-semi-binary-build.yml

@@ -1,6 +1,6 @@
 name: Jazzy Semi-Binary Build
 # author: Denis Štogl <[email protected]>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,14 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: jazzy
+      ros_repo: testing
+      upstream_workspace: ros2_control.jazzy.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true

.github/workflows/rolling-abi-compatibility.yml

@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest

.github/workflows/rolling-binary-build.yml

@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master

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

@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs

.github/workflows/rolling-compatibility-humble-binary-build.yml

@@ -29,6 +29,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   build-on-humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master

.github/workflows/rolling-compatibility-jazzy-binary-build.yml

@@ -29,6 +29,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   build-on-jazzy:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master

.github/workflows/rolling-coverage-build.yml

@@ -28,6 +28,11 @@ on:
       - 'ros2_control.rolling.repos'
       - 'codecov.yml'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_rolling:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master

.github/workflows/rolling-debian-build.yml

@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 
 jobs:
   debian_source_build:

.github/workflows/rolling-pre-commit.yml

@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master

.github/workflows/rolling-rhel-binary-build.yml

@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   rhel_semi_binary_build:

.github/workflows/rolling-semi-binary-build.yml

@@ -1,6 +1,6 @@
 name: Rolling Semi-Binary Build
 # author: Denis Štogl <[email protected]>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,15 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      # job for building only, no tests -> one distro is enough
+      ros_distro: rolling
+      ros_repo: testing
+      upstream_workspace: ros2_control.rolling.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true

.github/workflows/rosdoc2.yml

@@ -8,6 +8,9 @@ on:
       - ros2_control/rosdoc2.yaml
       - ros2_control/package.xml
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   check:

controller_interface/include/semantic_components/force_torque_sensor.hpp

@@ -62,7 +62,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
     const std::string & interface_torque_y, const std::string & interface_torque_z)
   : SemanticComponentInterface("", 6)
   {
-    auto check_and_add_interface = [this](const std::string & interface_name, const int index)
+    auto check_and_add_interface = [this](const std::string & interface_name, const size_t index)
     {
       if (!interface_name.empty())
       {
@@ -120,7 +120,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
     // find out how many force interfaces are being used
     // torque interfaces will be found from the next index onward
     auto torque_interface_counter =
-      std::count(existing_axes_.begin(), existing_axes_.begin() + 3, true);
+      static_cast<size_t>(std::count(existing_axes_.begin(), existing_axes_.begin() + 3, true));
 
     for (size_t i = 3; i < 6; ++i)
     {