Add industrial CI

[Ryanf55]

Purpose

Add the ROS industrial CI which supposedly can help find missing dependencies earlier in a more minimal test environment.

Details

We currently use rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-desktop-latest as an image, which contains all dependencies.

If we forget dependencies in the package.xml, our CI passes, but the jenkins CI fails.

From what I have read, ros-industrial can solve that.

Let's see if this can reproduce any test failures we have on the jenkins build farm.

[Ryanf55]

Ok, the first attempt failed (as I expected) because nav2 is not available as binaries.
https://github.com/ANYbotics/grid_map/actions/runs/12073751899/job/33670483685?pr=492#step:3:242

  ERROR: the following packages/stacks could not have their rosdep keys resolved
  to system dependencies:
  grid_map_ros: Cannot locate rosdep definition for [nav2_msgs]
  grid_map_costmap_2d: Cannot locate rosdep definition for [nav2_costmap_2d]

Seems like there is a way to bring in other source packages.

https://github.com/ros-industrial/industrial_ci/blob/master/doc/index.rst#workflow

The best looking option is to depend on the vcs files here and the ones in nav2

[Ryanf55]

Ok, the next commit was able to clone nav2 successfully, however it has errors that slam_toolbox isn't available.

https://github.com/ANYbotics/grid_map/actions/runs/12074002040/job/33671191803?pr=492#step:4:261

  ERROR: the following packages/stacks could not have their rosdep keys resolved
  to system dependencies:
  nav2_bringup: Cannot locate rosdep definition for [slam_toolbox]

The next thing to figure out is how to exclude rosdep keys. I suspect ROSDEP_SKIP_KEYS is what we need.

Nav2 has a skip list tracked here: https://github.com/ros-navigation/navigation2/blob/main/tools/skip_keys.txt

I don't think we should get that list and parse it because NAV2 might move the file.

[Ryanf55]

If it builds ALL of nav2 (which is unnecessary), we would ideally only build the packages we need in the underlay.

While colcon build --packages-up-to would be great, that's not supported. There's good alternatives here:
ros-industrial/industrial_ci#859

For example, in the docs:

UPSTREAM_WORKSPACE='https://raw.githubusercontent.com/ros-controls/ros_control/melodic-devel/ros_control.rosinstall -ros_control/rqt_controller_manager'

Edit: Yes, we should do this. The nav2 build takes 34 minutes:
Summary: 43 packages finished [34min 25s]

nav2_behavior_tree takes the longest.

[Ryanf55]

Excellent! The addition of the ROS industrial CI was able to isolate the failure we have on the build farm that we didn't see in our CI!
https://github.com/ANYbotics/grid_map/actions/runs/12074104056/job/33671488356?pr=492#step:5:5021

The workflow is SLOW though. I'd like to merge this as-is, and then do speed optimizations as a follow up.

For speed optimizations, here's some options:

• Only build the packages we need in nav2
• Use mergify to only trigger the workflow when requested as a comment on a PR
• Integrate this as part of a merge pipeline after we click to merge that it runs checks and bounces the PR back if it fails

I don't want this to run every commit, or every time you push to PR because it's so slow.

Next, I'm going to rebase this on top of #491 to see if the build is now stable.

[Ryanf55]

@Mergifyio rebase

[mergify]

rebase

✅ Branch has been successfully rebased

[Ryanf55]

@Mergifyio backport jazzy

[mergify]

backport jazzy

✅ Backports have been created

• #500 Add industrial CI (backport #492) has been created for branch jazzy

[Ryanf55]

@Mergifyio backport iron

[mergify]

backport iron

✅ Backports have been created

• #501 Add industrial CI (backport #492) has been created for branch iron

[Ryanf55]

@Mergifyio backport humble

[mergify]

backport humble

✅ Backports have been created

• #502 Add industrial CI (backport #492) has been created for branch humble