Merge branch 'master' into 48-python_syntax-is-python2-only

ci-templates/auto-rules/humble-default.yml

+include: ci-templates/auto-rules/no-default.yml
+
+variables:
+  DEFAULT_DISTRO: humble

ci-templates/auto-rules/no-default.yml

@@ -11,6 +11,9 @@ workflow:
     - if: $CI_COMMIT_REF_NAME =~ /^noetic-.*/
       variables:
         DEFAULT_DISTRO: "noetic"
+    - if: $CI_COMMIT_REF_NAME =~ /^humble-.*/
+      variables:
+        DEFAULT_DISTRO: "humble"
     - if: $CI_COMMIT_TAG
     - if: $CI_COMMIT_BRANCH
 
@@ -38,6 +41,13 @@ industrial_ci_noetic:
     - if: $DEFAULT_DISTRO == "noetic"
     - if: $BUILD_NOETIC
 
+industrial_ci_humble:
+  extends: .industrial_ci
+  variables:
+    ROS_DISTRO: humble
+  rules:
+    - if: $DEFAULT_DISTRO == "humble"
+    - if: $BUILD_HUMBLE
 
 .py3_template:
   rules:

ci-templates/auto-rules/with-rosinstall/humble-default.yml

+include: ci-templates/auto-rules/with-rosinstall/no-default.yml
+
+variables:
+  DEFAULT_DISTRO: humble

ci-templates/industrial-ci-templates.yml

+variables:
+  GITLAB_TEMPLATES_BRANCH: master
+
 .industrial_ci:
   stage: build
   before_script:
@@ -10,7 +13,7 @@
     DOCKER_IMAGE: "${ARTIFACT_DOCKER_URL}/flexbotics-base-devel:${ROS_DISTRO}"
     ADDITIONAL_DEBS: curl
     PARALLEL_BUILDS: 2 # keep this for now, since there seems to be memory limit issues in the ci VM
-    AFTER_SETUP_TARGET_WORKSPACE: "rosenv && bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$current_ws"
+    AFTER_SETUP_TARGET_WORKSPACE: "rosenv && bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/ci_run_entry_points.sh) $$current_ws"
     CMAKE_ARGS: -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context
 
 
@@ -35,27 +38,27 @@
     - git config --global credential.helper store
     - echo https://$ARTIFACT_CI_USER:$ARTIFACT_CI_TOKEN@artifact.tecnalia.com > ~/.git-credentials
     # install ddeploy
-    - pip install git+ssh://git@git.code.tecnalia.com/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy.git@v0.1.0
+    - pip install git+ssh://git@git.code.tecnalia.com/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy.git@v0.2.0
     - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
   script:
     # Run ddeploy
     - ddeploy --yaml ${DDEPLOY_YAML}
-    # Get ID of image created by ddeploy
-    - 'DOCKER_ID=$(docker images --format="{{.ID}}" | head -1)'
-    - curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/enforce_labels.bash | bash -s -- ${DOCKER_ID}
+    # Get the full name of the most recently built image
+    - 'DDEPLOY_IMAGE_NAME=$(docker images --format="{{.Repository}}:{{.Tag}}" | head -1)'
+    - curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/enforce_labels.bash | bash -s -- ${DDEPLOY_IMAGE_NAME}
     # Tag and push with the branch or tag name.
     - echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}"
-    - docker tag ${DOCKER_ID} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}
+    - docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}
     - docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}
     # Tag and push with commit sha
     - echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}"
-    - docker tag ${DOCKER_ID} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}
+    - docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}
     - docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}
     # Tag and push with latest only if it's on the default branch
     - >
       if [ "$CI_COMMIT_BRANCH" == "$CI_DEFAULT_BRANCH" ]; then
         echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest"
-        docker tag ${DOCKER_ID} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest &&
+        docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest &&
         docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest;
       fi
   rules:

ci-templates/syntax-check.yml

+variables:
+  GITLAB_TEMPLATES_BRANCH: master
+
 ##########################################################
 ## Check formating of C and C++ files using clang-format
 ##########################################################
-
 clang_format:
   stage: .post
   before_script:
     - apk add --update bash coreutils tar wget
     - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config -b legacy
-    - wget https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/clang-format -O .clang-format
+    - wget https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/clang-format -O .clang-format
   script: .ci_config/gitlab.sh
   variables:
     ROS_DISTRO: kinetic
@@ -68,5 +70,5 @@ adoc_syntax:
   before_script:
     - apk add --update curl asciidoctor bash
   script:
-    - curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/asciidoctor_syntax_check.bash | bash -s -- .
+    - curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/asciidoctor_syntax_check.bash | bash -s -- .
   when: always

rosdistro/rosdep_tecnalia.yaml

@@ -14,6 +14,7 @@ peak:
 phoxicontrol:
   ubuntu:
     bionic: [phoxicontrol]
+    focal: [phoxicontrol]
 
 robotnik_base_hw_lib:
   ubuntu: [ros-kinetic-robotnik-base-hw-lib]