Create usable workflows

.github/actions/install-dependencies/action.yml

@@ -0,0 +1,27 @@
+name: "Install Dependencies"
+description: "Python dependencies"
+
+runs:
+  using: 'composite'
+  steps:
+  - uses: actions/checkout@v3
+    with:
+      repository: ros-controls/control.ros.org
+      ref: master
+      fetch-depth: 0
+  - uses: actions/setup-python@v4
+    with:
+      python-version: '3.8'
+      cache: 'pip'
+  - name: Install Python dependencies
+    run: |
+      python -m pip install --upgrade pip
+      pip install --upgrade --requirement requirements.txt
+    shell: bash
+  - name: Install generate_parameter_library
+    run: |
+      cd
+      git clone https://github.com/PickNikRobotics/generate_parameter_library.git
+      cd generate_parameter_library/generate_parameter_library_py/
+      python -m pip install .
+    shell: bash

.github/workflows/reusable-sphinx-check-single-version.yml

@@ -0,0 +1,34 @@
+name: "Reusable workflow to check a single version"
+on:
+  workflow_call:
+    inputs:
+      ROS2_CONTROL_PR:
+        type: string
+      ROS2_CONTROLLERS_PR:
+        type: string
+      ROS2_CONTROL_DEMOS_PR:
+        type: string
+      GAZEBO_ROS2_CONTROL_PR:
+        type: string
+      GZ_ROS2_CONTROL_PR:
+        type: string
+
+jobs:
+  build-single-version:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        repository: ros-controls/control.ros.org
+        ref: master
+        fetch-depth: 0
+    - name: Install dependencies
+      uses: ros-controls/control.ros.org/.github/actions/install-dependencies@master
+    - name: Build single version with optional PRs' numbers considering warnings as errors
+      env:
+        ROS2_CONTROL_PR: ${{ inputs.ROS2_CONTROL_PR }}
+        ROS2_CONTROLLERS_PR: ${{ inputs.ROS2_CONTROLLERS_PR }}
+        ROS2_CONTROL_DEMOS_PR: ${{ inputs.ROS2_CONTROL_DEMOS_PR }}
+        GAZEBO_ROS2_CONTROL_PR: ${{ inputs.GAZEBO_ROS2_CONTROL_PR }}
+        GZ_ROS2_CONTROL_PR: ${{ inputs.GZ_ROS2_CONTROL_PR }}
+      run: make html-all-subrepos-with-errors

.github/workflows/sphinx-check-warnings.yml

@@ -7,29 +7,17 @@ on:
   schedule:
   # Run every morning to ensure component documentation is up to date on deployment
    - cron: '23 5 * * *'
-  pull_request: # only runs up through build of sphinx
+  pull_request:
 
 jobs:
-  build-deploy:
+  build-halt-on-errors:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
       with:
         fetch-depth: 0
-    - uses: actions/setup-python@v4
-      with:
-        python-version: '3.8'
-        cache: 'pip'
-    - name: Install Python dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install --upgrade --requirement requirements.txt
-    - name: Install generate_parameter_library
-      run: |
-        cd
-        git clone https://github.com/PickNikRobotics/generate_parameter_library.git
-        cd generate_parameter_library/generate_parameter_library_py/
-        python -m pip install .
+    - name: Install dependencies
+      uses: ./.github/actions/install-dependencies
     - name: Build multiversion considering warnings as errors
       run: |
         git config --local user.email "[email protected]"

.github/workflows/sphinx-make-page.yml

@@ -16,20 +16,8 @@ jobs:
     - uses: actions/checkout@v3
       with:
         fetch-depth: 0
-    - uses: actions/setup-python@v4
-      with:
-        python-version: '3.8'
-        cache: 'pip'
-    - name: Install Python dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install --upgrade --requirement requirements.txt
-    - name: Install generate_parameter_library
-      run: |
-        cd
-        git clone https://github.com/PickNikRobotics/generate_parameter_library.git
-        cd generate_parameter_library/generate_parameter_library_py/
-        python -m pip install .
+    - name: Install dependencies
+      uses: ./.github/actions/install-dependencies
     - name: Install doxygen and graphviz
       run: sudo apt-get install -y doxygen graphviz
     - name: Build multiversion with API

Makefile

@@ -13,9 +13,11 @@ help:
 	@$(SPHINXBUILD) -M help $(SOURCEDIR) $(BUILDDIR) $(SPHINXOPTS) $(O)
 	@echo "  html-with-api"
 	@echo "  html-all-subrepos"
+	@echo "  html-all-subrepos-with-errors"
 	@echo "  html-all-subrepos-with-api"
 	@echo "  multiversion"
 	@echo "  multiversion-with-api"
+	@echo "  multiversion-with-errors"
 
 html-with-api: Makefile
 	@echo Single html file with API
@@ -33,6 +35,15 @@ html-all-subrepos: Makefile
 	@echo Step 3: Deleting subrepositories in doc/ folder
 	./make_help_scripts/delete_sub_repos
 
+html-all-subrepos-with-errors: Makefile
+	@echo Single html file without API
+	@echo Step 1: Cloning all subrepositories
+	./make_help_scripts/add_sub_repos
+	@echo Step 2: Building documentation
+	$(SPHINXBUILD) $(SPHINXOPTS) -W --keep-going $(SOURCEDIR) $(BUILDDIR)/html
+	@echo Step 3: Deleting subrepositories in doc/ folder
+	./make_help_scripts/delete_sub_repos
+
 html-all-subrepos-with-api: Makefile
 	@echo Single html file with API
 	@echo Step 1: Cloning all subrepositories
@@ -79,7 +90,7 @@ multiversion-with-api: Makefile
 	@echo Step 5: Create correct index
 	@echo "<html><head><meta http-equiv=\"refresh\" content=\"0; url=master/index.html\" /></head></html>" > "$(BUILDDIR)"/html/index.html
 
-.PHONY: help Makefile html-with-api multiversion multiversion-with-api html-all-subrepos html-all-subrepos-with-api
+.PHONY: help Makefile html-with-api multiversion multiversion-with-api multiversion-with-errors html-all-subrepos html-all-subrepos-with-api html-all-subrepos-with-errors
 
 # TODO(denis): Enable this!
 # # # # Generate the doxygen xml (for Sphinx) and copy the doxygen html to the

make_help_scripts/add_sub_repos

@@ -10,8 +10,15 @@ add_sub_repositories () {
     # checkout a base for defined starting point
     cd "$base_dir" || { echo "Could not checkout base dir of control.ros.org. Exiting!"; exit "$ERRCODE"; }
     for repo_name in "${!subrepo_url[@]}";
-        do echo "Create doc/$repo_name";
-        git clone "${subrepo_url[$repo_name]}" -b "$api_branch" doc/"$repo_name"
+        do echo "Create doc/$repo_name"
+        git clone "${subrepo_url[$repo_name]}" -b master doc/"$repo_name"
+        if [ ! -z ${subrepo_pr[$repo_name]} ]; then
+          echo "checkout PR: ${subrepo_pr[$repo_name]}"
+          cd doc/"$repo_name"
+          git fetch origin ${subrepo_pr[$repo_name]}:PR
+          git checkout PR
+          cd "$base_dir"
+        fi
     done
 }
 

make_help_scripts/deploy_defines

@@ -18,5 +18,7 @@ api_branch="master"
 # branches on which the temporary commits are created and which branch should be checked out in the subrepositories
 # ["branch checked out for mutliversion"]="branch checked out for all subrepos"
 declare -A branch_version=( ["foxy"]="foxy" ["galactic"]="galactic" ["humble"]="humble" ["master"]="master") # master is rolling
-# the subrepos which are cloned into the branches and their corresponding url
+
+# the subrepos which are cloned into the branches and, optionally, their corresponding PR for checkout
 declare -A subrepo_url=( ["ros2_control"]="https://github.com/ros-controls/ros2_control" ["ros2_controllers"]="https://github.com/ros-controls/ros2_controllers" ["ros2_control_demos"]="https://github.com/ros-controls/ros2_control_demos" ["gazebo_ros2_control"]="https://github.com/ros-controls/gazebo_ros2_control" ["gz_ros2_control"]="https://github.com/ros-controls/gz_ros2_control")
+declare -A subrepo_pr=( ["ros2_control"]=$ROS2_CONTROL_PR ["ros2_controllers"]=$ROS2_CONTROLLERS_PR ["ros2_control_demos"]=$ROS2_CONTROL_DEMOS_PR ["gazebo_ros2_control"]=$GAZEBO_ROS2_CONTROL_PR ["gz_ros2_control"]=$GZ_ROS2_CONTROL_PR)