From 2053551d511c8c386e3f9f61cd1dc039c12d66cc Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 7 Feb 2024 08:40:54 +0000
Subject: [PATCH 1/7] Use env for package list

---
 .github/workflows/ci-ros-lint.yml | 70 ++++++++++++-------------------
 1 file changed, 26 insertions(+), 44 deletions(-)

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
index f6b9c027c9..df17d11dc4 100644
--- a/.github/workflows/ci-ros-lint.yml
+++ b/.github/workflows/ci-ros-lint.yml
@@ -2,6 +2,30 @@ name: ROS Lint
 on:
   pull_request:
 
+env:
+  package-name:
+    ackermann_steering_controller
+    admittance_controller
+    bicycle_steering_controller
+    diff_drive_controller
+    effort_controllers
+    force_torque_sensor_broadcaster
+    forward_command_controller
+    gripper_controllers
+    imu_sensor_broadcaster
+    joint_state_broadcaster
+    joint_trajectory_controller
+    pid_controller
+    position_controllers
+    range_sensor_broadcaster
+    ros2_controllers
+    ros2_controllers_test_nodes
+    rqt_joint_trajectory_controller
+    steering_controllers_library
+    tricycle_controller
+    tricycle_steering_controller
+    velocity_controllers
+
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
@@ -19,28 +43,7 @@ jobs:
       with:
         distribution: rolling
         linter: ${{ matrix.linter }}
-        package-name:
-          ackermann_steering_controller
-          admittance_controller
-          bicycle_steering_controller
-          diff_drive_controller
-          effort_controllers
-          force_torque_sensor_broadcaster
-          forward_command_controller
-          gripper_controllers
-          imu_sensor_broadcaster
-          joint_state_broadcaster
-          joint_trajectory_controller
-          pid_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
+        package-name: ${{ env.package-name }}
 
 
   ament_lint_100:
@@ -58,25 +61,4 @@ jobs:
         distribution: rolling
         linter: cpplint
         arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          ackermann_steering_controller
-          admittance_controller
-          bicycle_steering_controller
-          diff_drive_controller
-          effort_controllers
-          force_torque_sensor_broadcaster
-          forward_command_controller
-          gripper_controllers
-          imu_sensor_broadcaster
-          joint_state_broadcaster
-          joint_trajectory_controller
-          pid_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
+        package-name: ${{ env.package-name }}

From 2b0465620884a626fb5eac9487567353f746b0d1 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 7 Feb 2024 09:02:36 +0000
Subject: [PATCH 2/7] Split build and test steps

---
 .github/workflows/humble-debian-build.yml       | 13 +++++++++----
 .github/workflows/humble-rhel-binary-build.yml  | 13 ++++++++++---
 .github/workflows/iron-debian-build.yml         | 13 +++++++++----
 .github/workflows/iron-rhel-binary-build.yml    | 14 ++++++++++----
 .github/workflows/rolling-debian-build.yml      | 13 +++++++++----
 .github/workflows/rolling-rhel-binary-build.yml | 12 +++++++++---
 6 files changed, 56 insertions(+), 22 deletions(-)

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 426b935fa4..be1f564a51 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Humble Build
+name: Debian Humble Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -15,17 +15,22 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: humble
+      skip-packages: rqt_joint_trajectory_controller
     container: ghcr.io/ros-controls/ros:humble-debian
     steps:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
           ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Build and test
+      - name: Build workspace
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
           vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
+      - name: Test workspace
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
           colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index 933486ba50..8601035188 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -14,6 +14,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: humble
+      skip-packages: rqt_joint_trajectory_controller
     container: ghcr.io/ros-controls/ros:humble-rhel
     steps:
       - uses: actions/checkout@v4
@@ -24,9 +25,15 @@ jobs:
         run: |
           rosdep update
           rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build and test
+      - name: Build workspace
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build --packages-skip rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_joint_trajectory_controller
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
+      - name: Test workspace
+        shell: bash
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
           colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index c47fbe5cd9..a72046771a 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Iron Build
+name: Debian Iron Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -15,17 +15,22 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: iron
+      skip-packages: rqt_joint_trajectory_controller
     container: ghcr.io/ros-controls/ros:iron-debian
     steps:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
           ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
-      - name: Build and test
+      - name: Build workspace
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
           vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
+      - name: Test workspace
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
           colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index c3bc1e6def..89dbfa7a16 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -15,6 +15,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: iron
+      skip-packages: rqt_joint_trajectory_controller
     container: ghcr.io/ros-controls/ros:iron-rhel
     steps:
       - uses: actions/checkout@v4
@@ -25,11 +26,16 @@ jobs:
         run: |
           rosdep update
           rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build and test
-      # source also underlay workspace with generate_parameter_library on rhel9
+      - name: Build workspace
+        # source also underlay workspace with generate_parameter_library on rhel9
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
           source /opt/ros2_ws/install/setup.bash
-          colcon build --packages-skip rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
+      - name: Test workspace
+        shell: bash
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
           colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 9169494b00..2bf6369093 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Rolling Build
+name: Debian Rolling Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -15,6 +15,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: rolling
+      skip-packages: rqt_joint_trajectory_controller
     container: ghcr.io/ros-controls/ros:rolling-debian
     steps:
       - uses: actions/checkout@v4
@@ -22,11 +23,15 @@ jobs:
           path: src/ros2_controllers
           # default behavior is correct on master branch
           # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Build and test
+      - name: Build workspace
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
           vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
+      - name: Test workspace
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
           colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 98c02b72a3..c34a1a0a02 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -15,6 +15,7 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: rolling
+      skip-packages: rqt_joint_trajectory_controller
     container: ghcr.io/ros-controls/ros:rolling-rhel
     steps:
       - uses: actions/checkout@v4
@@ -26,11 +27,16 @@ jobs:
         run: |
           rosdep update
           rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build and test
+      - name: Build workspace
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
           source /opt/ros2_ws/install/setup.bash
-          colcon build --packages-skip rqt_joint_trajectory_controller
-          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon build  --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
+      - name: Test workspace
+        shell: bash
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
           colcon test-result --verbose

From 24e8c1e339d702063f392562462dd3edcfbf54e3 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 7 Feb 2024 09:04:57 +0000
Subject: [PATCH 3/7] Remove wrong field for workflow_dispatch

---
 .github/workflows/humble-binary-build-main.yml          | 2 --
 .github/workflows/humble-binary-build-testing.yml       | 2 --
 .github/workflows/humble-semi-binary-build-main.yml     | 2 --
 .github/workflows/humble-semi-binary-build-testing.yml  | 2 --
 .github/workflows/humble-source-build.yml               | 2 --
 .github/workflows/iron-binary-build-main.yml            | 4 ----
 .github/workflows/iron-binary-build-testing.yml         | 4 ----
 .github/workflows/iron-semi-binary-build-main.yml       | 4 ----
 .github/workflows/iron-semi-binary-build-testing.yml    | 4 ----
 .github/workflows/iron-source-build.yml                 | 2 --
 .github/workflows/rolling-binary-build-main.yml         | 4 ----
 .github/workflows/rolling-binary-build-testing.yml      | 4 ----
 .github/workflows/rolling-semi-binary-build-main.yml    | 4 ----
 .github/workflows/rolling-semi-binary-build-testing.yml | 4 ----
 14 files changed, 44 deletions(-)

diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build-main.yml
index 64d78f281a..9c634b372a 100644
--- a/.github/workflows/humble-binary-build-main.yml
+++ b/.github/workflows/humble-binary-build-main.yml
@@ -4,8 +4,6 @@ name: Humble Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml
index 524cacd685..b662543959 100644
--- a/.github/workflows/humble-binary-build-testing.yml
+++ b/.github/workflows/humble-binary-build-testing.yml
@@ -4,8 +4,6 @@ name: Humble Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
index 863df79a22..bfe83392ea 100644
--- a/.github/workflows/humble-semi-binary-build-main.yml
+++ b/.github/workflows/humble-semi-binary-build-main.yml
@@ -3,8 +3,6 @@ name: Humble Semi-Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build-testing.yml
index 6286636e1f..3a66c0b74d 100644
--- a/.github/workflows/humble-semi-binary-build-testing.yml
+++ b/.github/workflows/humble-semi-binary-build-testing.yml
@@ -3,8 +3,6 @@ name: Humble Semi-Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index ff0fd62e05..a40d53f8e3 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -1,8 +1,6 @@
 name: Humble Source Build
 on:
   workflow_dispatch:
-    branches:
-      - humble
   push:
     branches:
       - humble
diff --git a/.github/workflows/iron-binary-build-main.yml b/.github/workflows/iron-binary-build-main.yml
index ef35397855..bb1997bd48 100644
--- a/.github/workflows/iron-binary-build-main.yml
+++ b/.github/workflows/iron-binary-build-main.yml
@@ -4,10 +4,6 @@ name: Iron Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - iron
diff --git a/.github/workflows/iron-binary-build-testing.yml b/.github/workflows/iron-binary-build-testing.yml
index 25a693dc23..37e3524ccd 100644
--- a/.github/workflows/iron-binary-build-testing.yml
+++ b/.github/workflows/iron-binary-build-testing.yml
@@ -4,10 +4,6 @@ name: Iron Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - iron
diff --git a/.github/workflows/iron-semi-binary-build-main.yml b/.github/workflows/iron-semi-binary-build-main.yml
index 2224a59f0e..ed90a46ea8 100644
--- a/.github/workflows/iron-semi-binary-build-main.yml
+++ b/.github/workflows/iron-semi-binary-build-main.yml
@@ -3,10 +3,6 @@ name: Iron Semi-Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - iron
diff --git a/.github/workflows/iron-semi-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build-testing.yml
index c5ff430c89..d06a20443d 100644
--- a/.github/workflows/iron-semi-binary-build-testing.yml
+++ b/.github/workflows/iron-semi-binary-build-testing.yml
@@ -3,10 +3,6 @@ name: Iron Semi-Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - iron
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
index 1e9d865c49..34372a4178 100644
--- a/.github/workflows/iron-source-build.yml
+++ b/.github/workflows/iron-source-build.yml
@@ -1,8 +1,6 @@
 name: Iron Source Build
 on:
   workflow_dispatch:
-    branches:
-      - iron
   push:
     branches:
       - iron
diff --git a/.github/workflows/rolling-binary-build-main.yml b/.github/workflows/rolling-binary-build-main.yml
index 793db5d7e5..729d5e38ba 100644
--- a/.github/workflows/rolling-binary-build-main.yml
+++ b/.github/workflows/rolling-binary-build-main.yml
@@ -4,10 +4,6 @@ name: Rolling Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - master
diff --git a/.github/workflows/rolling-binary-build-testing.yml b/.github/workflows/rolling-binary-build-testing.yml
index 9b480d99c3..0596aeec56 100644
--- a/.github/workflows/rolling-binary-build-testing.yml
+++ b/.github/workflows/rolling-binary-build-testing.yml
@@ -4,10 +4,6 @@ name: Rolling Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - master
diff --git a/.github/workflows/rolling-semi-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build-main.yml
index 8b395e5163..206ca8bd52 100644
--- a/.github/workflows/rolling-semi-binary-build-main.yml
+++ b/.github/workflows/rolling-semi-binary-build-main.yml
@@ -3,10 +3,6 @@ name: Rolling Semi-Binary Build - main
 
 on:
   workflow_dispatch:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - master
diff --git a/.github/workflows/rolling-semi-binary-build-testing.yml b/.github/workflows/rolling-semi-binary-build-testing.yml
index 630881dc0a..b284c0b7d4 100644
--- a/.github/workflows/rolling-semi-binary-build-testing.yml
+++ b/.github/workflows/rolling-semi-binary-build-testing.yml
@@ -3,10 +3,6 @@ name: Rolling Semi-Binary Build - testing
 
 on:
   workflow_dispatch:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - master

From f4debfbf165efd814a3ad2da32c291781a386987 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 7 Feb 2024 14:24:24 +0000
Subject: [PATCH 4/7] set continue-on-error: true for tier 2/3 tests

---
 .github/workflows/humble-debian-build.yml       | 1 +
 .github/workflows/humble-rhel-binary-build.yml  | 1 +
 .github/workflows/iron-debian-build.yml         | 1 +
 .github/workflows/iron-rhel-binary-build.yml    | 1 +
 .github/workflows/rolling-debian-build.yml      | 1 +
 .github/workflows/rolling-rhel-binary-build.yml | 1 +
 6 files changed, 6 insertions(+)

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index be1f564a51..7d924cf34d 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -30,6 +30,7 @@ jobs:
           colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
       - name: Test workspace
         shell: bash
+        continue-on-error: true
         run: |
           source /opt/ros2_ws/install/setup.bash
           colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index 8601035188..c75332c463 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -32,6 +32,7 @@ jobs:
           colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
       - name: Test workspace
         shell: bash
+        continue-on-error: true
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
           source /opt/ros2_ws/install/setup.bash
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index a72046771a..bec0e2f450 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -30,6 +30,7 @@ jobs:
           colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
       - name: Test workspace
         shell: bash
+        continue-on-error: true
         run: |
           source /opt/ros2_ws/install/setup.bash
           colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index 89dbfa7a16..12958e565d 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -34,6 +34,7 @@ jobs:
           colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
       - name: Test workspace
         shell: bash
+        continue-on-error: true
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
           source /opt/ros2_ws/install/setup.bash
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 2bf6369093..cde804aeb2 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -31,6 +31,7 @@ jobs:
           colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
       - name: Test workspace
         shell: bash
+        continue-on-error: true
         run: |
           source /opt/ros2_ws/install/setup.bash
           colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index c34a1a0a02..9152c293c2 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -35,6 +35,7 @@ jobs:
           colcon build  --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
       - name: Test workspace
         shell: bash
+        continue-on-error: true
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
           source /opt/ros2_ws/install/setup.bash

From e7631e9bf67adeed629e9d69e4da26c89e2aa18b Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 7 Feb 2024 22:44:23 +0000
Subject: [PATCH 5/7] Source workspaces before rosdep

---
 .github/workflows/humble-rhel-binary-build.yml  | 6 ++++--
 .github/workflows/iron-rhel-binary-build.yml    | 6 ++++--
 .github/workflows/rolling-rhel-binary-build.yml | 6 ++++--
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index c75332c463..9ca8f7ac25 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -23,18 +23,20 @@ jobs:
           ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
       - name: Install dependencies
         run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           rosdep update
           rosdep install -iyr --from-path src/ros2_controllers || true
       - name: Build workspace
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
       - name: Test workspace
         shell: bash
         continue-on-error: true
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
           colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index 12958e565d..e6819715ff 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -24,19 +24,21 @@ jobs:
           ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
       - name: Install dependencies
         run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           rosdep update
           rosdep install -iyr --from-path src/ros2_controllers || true
       - name: Build workspace
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
       - name: Test workspace
         shell: bash
         continue-on-error: true
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
           colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 9152c293c2..4de9632f1f 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -25,19 +25,21 @@ jobs:
           # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
       - name: Install dependencies
         run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           rosdep update
           rosdep install -iyr --from-path src/ros2_controllers || true
       - name: Build workspace
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           colcon build  --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
       - name: Test workspace
         shell: bash
         continue-on-error: true
         run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
           colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
           colcon test-result --verbose

From 3bc809c2d63047e61d988bb03603150b0d2a154b Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 8 Feb 2024 08:46:25 +0000
Subject: [PATCH 6/7] Update output strings

---
 .github/workflows/reusable-industrial-ci-with-cache.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
index acefeebfac..234ec27677 100644
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -56,10 +56,10 @@ jobs:
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
       CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
     steps:
-      - name: Checkout ${{ inputs.ref }} when build is not scheduled
+      - name: Checkout default ref when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
         uses: actions/checkout@v4
-      - name: Checkout ${{ inputs.ref }} on scheduled build
+      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
         if: ${{ github.event_name == 'schedule' }}
         uses: actions/checkout@v4
         with:

From b2aee2c8cb3f4ab71c166d07d8fccdf3e1515aee Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 8 Feb 2024 08:46:50 +0000
Subject: [PATCH 7/7] Use reusable workflows for rhel and debian

---
 .github/workflows/humble-debian-build.yml     | 29 ++------
 .../workflows/humble-rhel-binary-build.yml    | 35 ++--------
 .github/workflows/iron-debian-build.yml       | 29 ++------
 .github/workflows/iron-rhel-binary-build.yml  | 36 ++--------
 .github/workflows/reusable-debian-build.yml   | 63 +++++++++++++++++
 .../workflows/reusable-rhel-binary-build.yml  | 69 +++++++++++++++++++
 .github/workflows/rolling-debian-build.yml    | 30 ++------
 .../workflows/rolling-rhel-binary-build.yml   | 37 ++--------
 8 files changed, 168 insertions(+), 160 deletions(-)
 create mode 100644 .github/workflows/reusable-debian-build.yml
 create mode 100644 .github/workflows/reusable-rhel-binary-build.yml

diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 7d924cf34d..c236aecf64 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -12,26 +12,9 @@ on:
 jobs:
   humble_debian:
     name: Humble debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-      skip-packages: rqt_joint_trajectory_controller
-    container: ghcr.io/ros-controls/ros:humble-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-debian-build.yml
+    with:
+      ros_distro: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index 9ca8f7ac25..db503d1993 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -11,32 +11,9 @@ on:
 jobs:
   humble_rhel_binary:
     name: Humble RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-      skip-packages: rqt_joint_trajectory_controller
-    container: ghcr.io/ros-controls/ros:humble-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build workspace
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    with:
+      ros_distro: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index bec0e2f450..58787a804c 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -12,26 +12,9 @@ on:
 jobs:
   iron_debian:
     name: Iron debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-      skip-packages: rqt_joint_trajectory_controller
-    container: ghcr.io/ros-controls/ros:iron-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-debian-build.yml
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index e6819715ff..90dac67a44 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -12,33 +12,9 @@ on:
 jobs:
   iron_rhel_binary:
     name: Iron RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-      skip-packages: rqt_joint_trajectory_controller
-    container: ghcr.io/ros-controls/ros:iron-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build workspace
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/reusable-debian-build.yml b/.github/workflows/reusable-debian-build.yml
new file mode 100644
index 0000000000..b406fe6eaa
--- /dev/null
+++ b/.github/workflows/reusable-debian-build.yml
@@ -0,0 +1,63 @@
+name: Reusable Debian Source Build
+# Reusable action to simplify dealing with debian source builds
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_call:
+    inputs:
+      ros_distro:
+        description: 'ROS2 distribution name'
+        required: true
+        type: string
+      ref_for_scheduled_build:
+        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
+        default: ''
+        required: false
+        type: string
+      upstream_workspace:
+        description: 'Path to local .repos file.'
+        default: ''
+        required: false
+        type: string
+      skip_packages:
+        description: 'Packages to skip from build and test'
+        default: ''
+        required: false
+        type: string
+
+
+jobs:
+  debian_source:
+    name: ${{ inputs.ros_distro }} debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: ${{ inputs.ros_distro }}
+      path: src/ros2_controllers
+    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-debian
+    steps:
+      - name: Checkout default ref when build is not scheduled
+        if: ${{ github.event_name != 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          path: ${{ env.path }}
+      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
+        if: ${{ github.event_name == 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.ref_for_scheduled_build }}
+          path: ${{ env.path }}
+      - name: Build workspace
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          if [[ -n "${{ inputs.upstream_workspace }}" ]]; then
+            vcs import src < ${{ env.path }}/${{ inputs.upstream_workspace }}
+          fi
+          colcon build --packages-up-to $(colcon list --paths ${{ env.path }}/* --names-only) --packages-skip ${{ inputs.skip_packages }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select $(colcon list --paths ${{ env.path }}/* --names-only) --packages-skip ${{ inputs.skip_packages }}
+          colcon test-result --verbose
diff --git a/.github/workflows/reusable-rhel-binary-build.yml b/.github/workflows/reusable-rhel-binary-build.yml
new file mode 100644
index 0000000000..be4eabb76b
--- /dev/null
+++ b/.github/workflows/reusable-rhel-binary-build.yml
@@ -0,0 +1,69 @@
+name: Reusable RHEL Binary Build
+# Reusable action to simplify dealing with RHEL binary builds
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_call:
+    inputs:
+      ros_distro:
+        description: 'ROS2 distribution name'
+        required: true
+        type: string
+      ref_for_scheduled_build:
+        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
+        default: ''
+        required: false
+        type: string
+      upstream_workspace:
+        description: 'Path to local .repos file.'
+        default: ''
+        required: false
+        type: string
+      skip_packages:
+        description: 'Packages to skip from build and test'
+        default: ''
+        required: false
+        type: string
+
+jobs:
+  rhel_binary:
+    name: ${{ inputs.ros_distro }} RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      path: src/ros2_controllers
+    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-rhel
+    steps:
+      - name: Checkout default ref when build is not scheduled
+        if: ${{ github.event_name != 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          path: ${{ env.path }}
+      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
+        if: ${{ github.event_name == 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.ref_for_scheduled_build }}
+          path: ${{ env.path }}
+      - name: Install dependencies
+        run: |
+          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          if [[ -n "${{ inputs.upstream_workspace }}" ]]; then
+            vcs import src < ${{ env.path }}/${{ inputs.upstream_workspace }}
+          fi
+          rosdep update
+          rosdep install -iyr --from-path src || true
+      - name: Build workspace
+        # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
+          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon build  --packages-up-to $(colcon list --paths ${{ env.path }}/* --names-only) --packages-skip ${{ inputs.skip_packages }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
+        run: |
+          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon test --packages-select $(colcon list --paths ${{ env.path }}/* --names-only) --packages-skip  ${{ inputs.skip_packages }}
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index cde804aeb2..153f4df681 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -12,27 +12,9 @@ on:
 jobs:
   rolling_debian:
     name: Rolling debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-      skip-packages: rqt_joint_trajectory_controller
-    container: ghcr.io/ros-controls/ros:rolling-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-debian-build.yml
+    with:
+      ros_distro: rolling
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 4de9632f1f..31c133ab69 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -12,34 +12,9 @@ on:
 jobs:
   rolling_rhel_binary:
     name: Rolling RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-      skip-packages: rqt_joint_trajectory_controller
-    container: ghcr.io/ros-controls/ros:rolling-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_controllers || true
-      - name: Build workspace
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build  --packages-up-to $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_controllers/* --names-only) --packages-skip  ${{ env.skip-packages }}
-          colcon test-result --verbose
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    with:
+      ros_distro: rolling
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller