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0600cc08 · 5b9e9cc3 · 98803c56 · 9deafef0 · d684323a · a60c7c08
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
 shellcheck:
-  image: tecnalia-docker-dev.artifact.tecnalia.com/koalaman/shellcheck-alpine
+  image: tecnalia-docker-dev.artifact.tecnalia.dev/koalaman/shellcheck-alpine
-  script: shellcheck deploy/base/ros_entrypoint.bash scripts/*sh
+  script: shellcheck scripts/*sh
  tags:
    - docker
-# The ignored rules in hadolint checks are
-# DL3006 Always tag the version of an image explicitly
-#   One of the Dockerfiles uses a temporary image which isn't important to tag
-#   and the other uses a tagged image through an ARG, which apparently is not
-#   properly recognized.
-# DL3008 Pin versions in apt-get install
-#   A bit overkill
-dockerfiles:
-  image: tecnalia-docker-dev.artifact.tecnalia.com/hadolint/hadolint:latest-debian
-  script:
-    - RET=0
-    - hadolint --ignore DL3006 --ignore DL3008 --ignore DL3059 deploy/base/Dockerfile || RET=1
-    - hadolint --ignore DL3006 --ignore DL3008 --ignore DL3059 deploy/dev/Dockerfile || RET=1
-    - exit $RET
-  tags:
-    - docker
 yamllint:
-  image: tecnalia-docker-dev.artifact.tecnalia.com/sdesbure/yamllint
+  image: tecnalia-docker-dev.artifact.tecnalia.dev/sdesbure/yamllint
  script: yamllint $(find . -name '*.yml' -o -name '*.yaml')
  tags:
    - docker
@@ -36,3 +20,30 @@ deploy_devcontainer:
    expire_in: 1 year
  tags:
    - docker
+.simple_ros_test:
+  variables:
+    TEMPLATES_PIPELINE_REF: $CI_COMMIT_REF_NAME
+  trigger:
+    project: tecnalia_robotics/ci_test_repos/simple_ros_test
+    strategy: depend
+simple_ros_melodic_test:
+  extends: .simple_ros_test
+  variables:
+    TEMPLATE_TO_USE: ci-templates/auto-rules/melodic-default.yml
+simple_ros_noetic_test:
+  extends: .simple_ros_test
+  variables:
+    TEMPLATE_TO_USE: ci-templates/auto-rules/noetic-default.yml
+simple_ros_core_with_noetic_test:
+  extends: .simple_ros_test
+  variables:
+    TEMPLATE_TO_USE: test/core_with_noetic.yml
+simple_ros_auto_rules_melodic_noetic_test:
+  extends: .simple_ros_test
+  variables:
+    TEMPLATE_TO_USE: test/auto_rules_melodic_noetic.yml
--- a/README.adoc
+++ b/README.adoc
@@ -9,11 +9,3 @@ include::ci-templates/README.adoc[leveloffset=+1]
 == Custom `rosdep` definitions
 Custom `rosdep` definitions for the packages hosted in our internal debian repository are declared in link:rosdistro/rosdep_tecnalia.yaml[].
-== Deployment image build resources
-Resources required for building the deployment docker images are also hosted in this repository.
-This basically boils down to:
- link:scripts/pre-deploy-cleanup.bash[] is run in the `.industrial_ci_deploy` template before commiting to an image
- link:deploy/Dockerfile[] is used to perform some additional cleanup and install link:deploy/ros_entrypoint.bash[] as entrypoint script on top of the `industrial_ci` image
--- a/ci-templates/README.adoc
+++ b/ci-templates/README.adoc
@@ -17,18 +17,20 @@ The Core pipeline, defined in link:ci-templates/core.yml[], has the following st
    ** If the package has `.rosinstall` dependencies, they can be installed using the variable `UPSTREAM_WORKSPACE`
    ** Uses `flexbotics-base-devel:${ROS_DISTRO}` as a starting image
    ** Runs link:scripts/ci_run_entry_points.sh[] in the `AFTER_SETUP_TARGET_WORKSPACE` stage, which in turn finds and runs every `ci_entry_script.bash` script found in the target repo.
-  * `.industrial_ci_deploy` template, which:
+- Stage: `deploy`
-    ** Runs `industrial_ci` by extending `.industrial_ci`
+  * `.ddeploy` template (see https://git.code.tecnalia.dev/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy[the ddeploy repo]), which:
-    ** Runs some cleanup in the `industrial_ci` context (e.g. delete sources)
+    ** Is run automatically for tags, but can also be run manually on normal commits
-    ** Commits image used by `industrial_ci`
+    ** Calls `ddeploy` to generate the docker image
-    ** Builds deployment image on top of it and push it to our registry
+    ** Renames the image created by ddeploy with different tags and pushes them to the registry.
+    *** Tag `${COMMIT_SHA}` (hash of commit)
+    *** Tag `${CI_COMMIT_REF_NAME}` (branch or tag name)
+    *** Tag `latest` only on the default branch
 - Stage: `.post`
  * Check `bash`/`sh` script syntax
  * Check Markdown and AsciiDoc syntax
  * Check files have no trailing whitespace and are `UTF-8` encoded
  * Check that `C++` files follow this link:clang-format[]
-It is important to note that both templates set the variable `GIT_LFS_SKIP_SMUDGE`, which means that when the repositories are cloned/fetched, the files hosted using Git LFS will not be downloaded. An example on how to explicitely fetch the files from LFS can be found in the https://git.code.tecnalia.com/tecnalia_robotics/common_config/blob/e93dbe6379d94e6a895a33c59bf17ccab26eacf9/.gitlab-ci.yml#L132[common_config repository].
 == Manual Jobs
@@ -52,3 +54,11 @@ The auto rules also allow for using variables to explicitely activate each job:
 ```yml
 include::examples/build_vars.yml[]
 ```
+If a `ddeploy.yaml` file exists, the auto-rules will add a job extending the `.ddeploy` template defined
+== LFS
+By default, lfs files are not downloaded. If you need to add LFS, include the link:ci-templates/lfs-pull.yml[] along with anything else:
+```yml
+include::examples/include_lfs.yml[]
+```
\ No newline at end of file
--- a/ci-templates/auto-rules/humble-default.yml
+++ b/ci-templates/auto-rules/humble-default.yml
+include: ci-templates/auto-rules/no-default.yml
+variables:
+  DEFAULT_DISTRO: humble
--- a/ci-templates/auto-rules/jazzy-default.yml
+++ b/ci-templates/auto-rules/jazzy-default.yml
+include: ci-templates/auto-rules/no-default.yml
+variables:
+  DEFAULT_DISTRO: jazzy
--- a/ci-templates/auto-rules/no-default.yml
+++ b/ci-templates/auto-rules/no-default.yml
@@ -2,40 +2,29 @@ include: ci-templates/core.yml
 workflow:
  rules:
-    - if: $CI_COMMIT_BRANCH && $CI_COMMIT_REF_NAME =~ /^kinetic-.*/
+    - if: $CI_COMMIT_REF_NAME =~ /^kinetic-.*/
      variables:
        DEFAULT_DISTRO: "kinetic"
-    - if: $CI_COMMIT_BRANCH && $CI_COMMIT_REF_NAME =~ /^melodic-.*/
+    - if: $CI_COMMIT_REF_NAME =~ /^melodic-.*/
      variables:
        DEFAULT_DISTRO: "melodic"
-    - if: $CI_COMMIT_BRANCH && $CI_COMMIT_REF_NAME =~ /^noetic-.*/
+    - if: $CI_COMMIT_REF_NAME =~ /^noetic-.*/
      variables:
        DEFAULT_DISTRO: "noetic"
-    - if: $CI_COMMIT_TAG && $CI_COMMIT_REF_NAME =~ /^kinetic-.*/
+    - if: $CI_COMMIT_REF_NAME =~ /^humble-.*/
      variables:
-        DEFAULT_DISTRO: "kinetic"
+        DEFAULT_DISTRO: "humble"
-        DEPLOY: "true"
+    - if: $CI_COMMIT_REF_NAME =~ /^jazzy-.*/
-    - if: $CI_COMMIT_TAG && $CI_COMMIT_REF_NAME =~ /^melodic-.*/
-      variables:
-        DEFAULT_DISTRO: "melodic"
-        DEPLOY: "true"
-    - if: $CI_COMMIT_TAG && $CI_COMMIT_REF_NAME =~ /^noetic-.*/
      variables:
-        DEFAULT_DISTRO: "noetic"
+        DEFAULT_DISTRO: "jazzy"
-        DEPLOY: "true"
    - if: $CI_COMMIT_TAG
-      variables:
-        DEPLOY: "true"
    - if: $CI_COMMIT_BRANCH
 industrial_ci_kinetic:
  extends: .industrial_ci
  variables:
    ROS_DISTRO: kinetic
  rules:
-    - if: $DEPLOY
-      when: never
    - if: $DEFAULT_DISTRO == "kinetic"
    - if: $BUILD_KINETIC
@@ -44,8 +33,6 @@ industrial_ci_melodic:
  variables:
    ROS_DISTRO: melodic
  rules:
-    - if: $DEPLOY
-      when: never
    - if: $DEFAULT_DISTRO == "melodic"
    - if: $BUILD_MELODIC
@@ -54,32 +41,79 @@ industrial_ci_noetic:
  variables:
    ROS_DISTRO: noetic
  rules:
-    - if: $DEPLOY
-      when: never
    - 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
-industrial_kinetic_deploy:
+industrial_ci_jazzy:
-  extends:
+  extends: .industrial_ci
-    - industrial_ci_kinetic
+  variables:
-    - .industrial_ci_deploy
+    ROS_DISTRO: jazzy
  rules:
-    - if: $DEPLOY && $DEFAULT_DISTRO == "kinetic"
+    - if: $DEFAULT_DISTRO == "jazzy"
-    - if: $DEPLOY && $BUILD_KINETIC
+    - if: $BUILD_JAZZY
-industrial_melodic_deploy:
+.py3_rules:
+  rules:
+    - if: $DEFAULT_DISTRO == "noetic"
+      when: always
+    - if: $BUILD_NOETIC
+      when: always
+    - if: $DEFAULT_DISTRO == "humble"
+      when: always
+    - if: $BUILD_HUMBLE
+      when: always
+    - if: $DEFAULT_DISTRO == "jazzy"
+      when: always
+    - if: $BUILD_JAZZY
+      when: always
+py3-flake8:
+  extends:
+    - .py3_rules
+    - .py3-flake8
+py3-flake8_extended:
  extends:
-    - industrial_ci_melodic
+    - .py3_rules
-    - .industrial_ci_deploy
+    - .py3-flake8_extended
+py3-security:
+  extends:
+    - .py3_rules
+    - .py3-security
+.py2_rules:
  rules:
-    - if: $DEPLOY && $DEFAULT_DISTRO == "melodic"
+    - if: $DEFAULT_DISTRO == "kinetic"
-    - if: $DEPLOY && $BUILD_MELODIC
+      when: always
+    - if: $BUILD_KINETIC
+      when: always
+    - if: $DEFAULT_DISTRO == "melodic"
+      when: always
+    - if: $BUILD_MELODIC
+      when: always
-industrial_noetic_deploy:
+py2-flake8:
  extends:
-    - industrial_ci_noetic
+    - .py2_rules
-    - .industrial_ci_deploy
+    - .py2-flake8
+ddeploy:
+  extends: .ddeploy
  rules:
-    - if: $DEPLOY && $DEFAULT_DISTRO == "noetic"
+    - if: $CI_COMMIT_TAG
-    - if: $DEPLOY && $BUILD_NOETIC
+      exists:
+        - ddeploy.yaml
+      when: always
+    - exists:
+        - ddeploy.yaml
+      when: manual
+      allow_failure: true
--- a/ci-templates/auto-rules/with-rosinstall/humble-default.yml
+++ b/ci-templates/auto-rules/with-rosinstall/humble-default.yml
+include: ci-templates/auto-rules/with-rosinstall/no-default.yml
+variables:
+  DEFAULT_DISTRO: humble
--- a/ci-templates/auto-rules/with-rosinstall/jazzy-default.yml
+++ b/ci-templates/auto-rules/with-rosinstall/jazzy-default.yml
+include: ci-templates/auto-rules/with-rosinstall/no-default.yml
+variables:
+  DEFAULT_DISTRO: jazzy
--- a/ci-templates/core.yml
+++ b/ci-templates/core.yml
-image: tecnalia-docker-dev.artifact.tecnalia.com/docker:git
+image: tecnalia-docker-dev.artifact.tecnalia.dev/docker:git
 workflow:
@@ -10,19 +10,14 @@ variables:
  TMPDIR: /builds/${CI_PROJECT_NAMESPACE}
  GIT_LFS_SKIP_SMUDGE: 1 # Avoid fetching the files from LFS when doing git fetch
-services:
-  - name: tecnalia-docker-dev.artifact.tecnalia.com/docker:dind
-    alias: docker
 stages:
  - build
+  - deploy
-before_script:
-  - apk add --update bash coreutils tar wget
-  - docker login tecnalia-docker-dev.artifact.tecnalia.com -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
 include:
  - ci-templates/syntax-check.yml
+  - ci-templates/python.yml
  - ci-templates/industrial-ci-templates.yml
 default:

--- a/ci-templates/examples/include_lfs.yml
+++ b/ci-templates/examples/include_lfs.yml
+include:
+  - project: tecnalia_robotics-public/gitlab_templates
+    file:
+      - ci-templates/auto-rules/kinetic-default.yml
+      - ci-templates/lfs-pull.yml
--- a/ci-templates/examples/manual_job.yml
+++ b/ci-templates/examples/manual_job.yml
@@ -3,7 +3,7 @@ include:
    file: ci-templates/core.yml
 industrial_ci_kinetic:
-  extends: .industrial-ci
+  extends: .industrial_ci
  variables:
    ROS_DISTRO: kinetic
    UPSTREAM_WORKSPACE: .rosinstall
--- a/ci-templates/industrial-ci-templates.yml
+++ b/ci-templates/industrial-ci-templates.yml
+variables:
+  GITLAB_TEMPLATES_BRANCH: master
 .industrial_ci:
  stage: build
+  services:
+    - name: tecnalia-docker-dev.artifact.tecnalia.dev/docker:dind
+      alias: docker
  before_script:
    - apk add --update bash coreutils tar
    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config
    - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
-    - docker login tecnalia-docker-dev.artifact.tecnalia.com -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
+    - docker login tecnalia-docker-dev.artifact.tecnalia.dev -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
  script: .ci_config/gitlab.sh
  variables:
    DOCKER_IMAGE: "${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) $$current_ws"
+    AFTER_SETUP_TARGET_WORKSPACE: "rosenv && bash <(curl -Ls https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/ci_run_entry_points.sh) $$current_ws"
-    CMAKE_ARGS: -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context
+    CMAKE_ARGS: -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context -Wno-dev
-.industrial_ci_deploy:
+.ddeploy:
-  extends: .industrial_ci
+  stage: deploy
+  services:
+  - name: tecnalia-docker-dev.artifact.tecnalia.dev/docker:dind
+    alias: docker
  variables:
-    AFTER_SCRIPT: "wget -q -O - https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/pre-deploy-cleanup.bash | bash"
+    DOCKER_PUSH_REGISTRY: ${ARTIFACT_DOCKER_URL}
-    DOCKER_COMMIT: industrial_ci_image
+    DOCKER_PUSH_NAME: ${CI_PROJECT_PATH}
+    DOCKER_PUSH_TAG: ${CI_COMMIT_REF_NAME}
+    DOCKER_PUSH_USER: ${ARTIFACT_CI_USER}
+    DOCKER_PUSH_TOKEN: ${ARTIFACT_CI_TOKEN}
+    DDEPLOY_YAML: ddeploy.yaml
+  before_script:
+    - apk add --update python3 git py3-pip git-lfs bash curl jq
+    # forward the SSH authentication into the Docker executor
+    - "which ssh-agent || ( apk update && apk add openssh-client )"
+    - eval $(ssh-agent -s)
+    - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+    - mkdir -p ~/.ssh
+    - echo "$SSH_SERVER_HOSTKEYS" > ~/.ssh/known_hosts
+    - chmod 700 ~/.ssh
+    # setup LFS authentication
+    - git lfs install
+    - git config --global credential.helper store
+    - echo https://$ARTIFACT_CI_USER:$ARTIFACT_CI_TOKEN@artifact.tecnalia.dev > ~/.git-credentials
+    - find . -type f -name .lfsconfig -exec sh -c 'cd "$(dirname "{}")" && git lfs pull' \;
+    - find . -type f -name .lfsconfig -exec sh -c 'cd "$(dirname "{}")" && git lfs ls-files' \;
+    # install ddeploy
+    - pip install --break-system-packages git+ssh://git@git.code.tecnalia.dev/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy.git@v0.2.0
+    - echo "Logging into docker registry ${ARTIFACT_DOCKER_URL} for user ${ARTIFACT_CI_USER}"
+    - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
+    - echo "Logging into docker registry ${DOCKER_PUSH_REGISTRY} for user ${DOCKER_PUSH_USER}"
+    - docker login ${DOCKER_PUSH_REGISTRY} -u ${DOCKER_PUSH_USER} -p ${DOCKER_PUSH_TOKEN}
  script:
-    - .ci_config/gitlab.sh
+    # Run ddeploy
-    - cd $(mktemp -d)
+    - GIT_LFS_SKIP_SMUDGE=0 ddeploy --yaml ${DDEPLOY_YAML}
-    - wget https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/-/archive/master/gitlab_templates-master.zip
+    # Get the full name of the most recently built image
-    - unzip gitlab_templates-master.zip && cd gitlab_templates-master/deploy
+    - 'DDEPLOY_IMAGE_NAME=$(docker images --format="{{.Repository}}:{{.Tag}}" | head -1)'
-    - cd base
+    - curl -Ls https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/enforce_labels.bash | bash -s -- ${DDEPLOY_IMAGE_NAME}
-    - chmod a+x ros_entrypoint.bash
+    # Tag and push with the branch or tag name.
-    - docker build -t ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME} .
+    - echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}"
-    - docker push ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME}
+    - docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}
-    - cd ..
+    - docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}
-    - cd dev
+    # Tag and push with commit sha
-    - docker build --build-arg APPLICATION_IMAGE=${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME} -t ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME}-dev .
+    - echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}"
-    - docker push ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME}-dev
+    - docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}
-    - cd ..
+    - 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 ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest &&
+        docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest;
+      fi
  rules:
-    - if: $DEPLOY
+    - if: $CI_COMMIT_TAG
+      when: always
+    - when: manual
+      allow_failure: true
--- a/ci-templates/lfs-pull.yml
+++ b/ci-templates/lfs-pull.yml
+.lfs-pull-script: &lfs-pull-script
+  "find $$current_ws -type f -name .lfsconfig -execdir git lfs pull \\; ;\
+   find $$current_ws -type f -name .lfsconfig -execdir git lfs ls-files \\; ;"
+.industrial_ci:
+  variables:
+    AFTER_INIT: "bash <(curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh);\
+                apt install -qq -y git-lfs; \
+                git config --global credential.helper store; \
+                echo https://$ARTIFACT_CI_USER:$ARTIFACT_CI_TOKEN@artifact.tecnalia.dev > ~/.git-credentials ;"
+    BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: *lfs-pull-script
+    BEFORE_INSTALL_TARGET_DEPENDENCIES: *lfs-pull-script
+    BEFORE_INSTALL_DOWNSTREAM_DEPENDENCIES: *lfs-pull-script
--- a/ci-templates/python.yml
+++ b/ci-templates/python.yml
+.flake8_template:
+  stage: build
+  before_script: ${PYTHON_VERSION} -m pip -q install flake8
+  script:
+    - find . -type f -executable ! -name "*.*" -exec awk ' /^#!.*python/{print FILENAME}  {nextfile}' {} + > /tmp/python_files # python files with no extension but with shebang
+    - find . -type f -name "*.py" >> /tmp/python_files
+    - sort /tmp/python_files | uniq | xargs ${PYTHON_VERSION} -m flake8 --max-line-length 120 --statistics --show-source
+.flake8_extended_template:
+  extends: .flake8_template
+  stage: .post
+  before_script:
+    - ${PYTHON_VERSION} -m pip install flake8 flake8-isort flake8-builtins flake8-eradicate flake8-functions-names flake8-return flake8-functions
+  allow_failure: true
+.security_template:
+  stage: .post
+  before_script:
+    - ${PYTHON_VERSION} -m pip install bandit
+  script:
+    - bandit -r .
+  allow_failure: true
+.py3_template:
+  image: python:3-alpine
+  variables:
+    PYTHON_VERSION: python3
+.py2_template:
+  image: python:2-alpine
+  variables:
+    PYTHON_VERSION: python2
+.py3-flake8:
+  extends:
+    - .flake8_template
+    - .py3_template
+.py2-flake8:
+  extends:
+    - .flake8_template
+    - .py2_template
+.py3-flake8_extended:
+  extends:
+    - .flake8_extended_template
+    - .py3_template
+.py3-security:
+  extends:
+    - .security_template
+    - .py3_template
--- a/ci-templates/syntax-check.yml
+++ b/ci-templates/syntax-check.yml
+variables:
+  GITLAB_TEMPLATES_BRANCH: master
 ##########################################################
 ## Check formating of C and C++ files using clang-format
 ##########################################################
 clang_format:
  stage: .post
+  services:
+    - name: tecnalia-docker-dev.artifact.tecnalia.dev/docker:dind
+      alias: docker
  before_script:
    - apk add --update bash coreutils tar wget
-    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config -b legacy
+    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config
-    - wget https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/clang-format -O .clang-format
+    - wget https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/clang-format -O .clang-format
  script: .ci_config/gitlab.sh
  variables:
-    ROS_DISTRO: kinetic
+    ROS_DISTRO: noetic
    CLANG_FORMAT_CHECK: file
-    CLANG_FORMAT_VERSION: "3.8"
+    CLANG_FORMAT_VERSION: 10
-  when: always
-##########################################################
-## Simple check for basic Python syntax errors; this is much less thorough than
-## other options like pylint, but much faster and less strict
-##########################################################
-python_syntax:
-  before_script:
-    - apk add --update python2
-  stage: build
-  script: python -m compileall -q .
  when: always
 ##########################################################
@@ -50,7 +44,9 @@ bash_syntax:
 ##########################################################
 markdown_syntax:
  stage: .post
-  script: docker run -v ${PWD}:/ac tecnalia-docker-dev.artifact.tecnalia.com/cytopia/awesome-ci syntax-markdown --path=/ac --extension=md --ignore=.ci_config --custom="-r ~MD013,~MD014"
+  image: tecnalia-docker-dev.artifact.tecnalia.dev/cytopia/awesome-ci
+  script:
+    - syntax-markdown --path=${PWD} --extension=md --ignore=.ci_config --custom="-r ~MD013,~MD014"
  when: always
 ##########################################################
@@ -61,10 +57,11 @@ markdown_syntax:
 ##########################################################
 file_syntax:
  stage: .post
+  image: tecnalia-docker-dev.artifact.tecnalia.dev/cytopia/awesome-ci
  script:
    - RET=0
-    - docker run -v ${PWD}:/ac tecnalia-docker-dev.artifact.tecnalia.com/cytopia/awesome-ci file-trailing-space --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
+    - file-trailing-space --path=${PWD} --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
-    - docker run -v ${PWD}:/ac tecnalia-docker-dev.artifact.tecnalia.com/cytopia/awesome-ci file-utf8 --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
+    - file-utf8 --path=${PWD} --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
    - exit $RET
  when: always
@@ -75,9 +72,9 @@ file_syntax:
 ##########################################################
 adoc_syntax:
  stage: .post
-  image: tecnalia-docker-dev.artifact.tecnalia.com/alpine
+  image: tecnalia-docker-dev.artifact.tecnalia.dev/alpine
  before_script:
    - apk add --update curl asciidoctor bash
  script:
-    - curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/asciidoctor_syntax_check.bash | bash -s -- .
+    - curl -Ls https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/asciidoctor_syntax_check.bash | bash -s -- .
  when: always
--- a/clang-format
+++ b/clang-format
 ---
-# Format file from: https://github.com/davetcoleman/roscpp_code_format (bfa4ea78b4ac856da07458c8824bf5eb327ea693)
+# Format file from: https://github.com/PickNikRobotics/roscpp_code_format (75a84b075d648828b7aa64094699e5ab5cc7adb7)
 BasedOnStyle: Google
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
@@ -9,9 +9,8 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
-AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakBeforeMultilineStrings: true
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true

--- a/deploy/base/Dockerfile
+++ b/deploy/base/Dockerfile
-FROM industrial_ci_image
-RUN rm -rf /root/ici /root/src
-RUN apt-get update -qq && apt-get install -y -qq --no-install-recommends \
-  ros-kinetic-rosbash \
-  && rm -rf /var/lib/apt/lists/*
-COPY ./ros_entrypoint.bash /
-ENTRYPOINT ["/ros_entrypoint.bash"]
-CMD ["bash"]
--- a/deploy/base/ros_entrypoint.bash
+++ b/deploy/base/ros_entrypoint.bash
-#!/bin/bash
-set -e
-# setup application environment
-# shellcheck disable=SC1091
-source "/root/target_ws/install/setup.bash"
-exec "$@"
--- a/deploy/dev/Dockerfile
+++ b/deploy/dev/Dockerfile
-ARG APPLICATION_IMAGE
-FROM ${APPLICATION_IMAGE}
-RUN apt-get update -qq && apt-get install -y -qq --no-install-recommends \
-  apt-transport-https \
-  curl \
-  libasound2 \
-  ca-certificates \
-  && rm -rf /var/lib/apt/lists/*
-SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-RUN curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > microsoft.gpg \
-  && mv microsoft.gpg /etc/apt/trusted.gpg.d/microsoft.gpg \
-  && sh -c 'echo "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list'
-RUN apt-get update -qq && apt-get install -y -qq --no-install-recommends \
-  code \
-  && rm -rf /var/lib/apt/lists/*
-RUN echo "alias code='code --user-data-dir /root'" >> /root/.bashrc
-RUN code --user-data-dir /root \
-  --install-extension ms-iot.vscode-ros \
-  --install-extension joaompinto.asciidoctor-vscode \
-  --install-extension ms-python.python \
-  --install-extension ms-vscode.cpptools \
-  --install-extension ms-azuretools.vscode-docker \
-  --install-extension twxs.cmake
--- a/rosdistro/rosdep_tecnalia.yaml
+++ b/rosdistro/rosdep_tecnalia.yaml
+apriltag:
+  ubuntu:
+    xenial: [apriltag]
+cvkit:
+  ubuntu:
+    xenial: [cvkit]
 dynamixel:
  ubuntu: [libdynamixel-dev]
+k4a-tools:
+  ubuntu:
+    focal: [k4a-tools]
 libhalcon-dev:
  ubuntu: [libhalcon-dev]
+libk4a1.3:
+  ubuntu:
+    focal: [libk4a1.3]
+libk4a1.3-dev:
+  ubuntu:
+    focal: [libk4a1.3-dev]
+libopenvdb_fork_dev:
+  ubuntu:
+    focal: [libopenvdb-fork-dev]
 libpcl-1.8.1:
  ubuntu:
    xenial: [libpcl1.8.1]
+libsoundio1:
+  ubuntu: [libsoundio1]
+libvdbfusion_dev:
+  ubuntu:
+    focal: [libvdbfusion-dev]
+open3d-ros-helper-pip:
+  ubuntu:
+    pip:
+      packages: [open3d_ros_helper]
 peak:
  ubuntu: [libpeak-dev]
 phoxicontrol:
  ubuntu:
    bionic: [phoxicontrol]
+    focal: [phoxicontrol]
-robotnik_base_hw_lib:
+rc_apps_msgs:
-  ubuntu: [ros-kinetic-robotnik-base-hw-lib]
+  ubuntu:
+    xenial: [ros-kinetic-rc-apps-msgs]
-telicam-sdk:
-  ubuntu: [telicam-sdk]
-telicam-1.1.0:
-  ubuntu: [libtelicam-sdk-1.1.0]
-zivid:
-  ubuntu: [zivid]
-zivid_telicam_driver:
-  ubuntu: [zivid-telicam-driver]
-zivid_camera:
-  ubuntu: [ros-kinetic-zivid-camera]
-rccomm_utils:
+rc_bagthrottler:
  ubuntu:
-    xenial: [rccomm-utils]
+    xenial: [ros-kinetic-rc-bagthrottler]
-rc_parameter_collection_ros_proxy:
+rc_comm_utils:
  ubuntu:
-    xenial: [ros-kinetic-rc-parameter-collection-ros-proxy]
+    xenial: [ros-kinetic-rc-comm-utils]
-rcimage_smoothing:
+rc_cv_utils:
  ubuntu:
-    xenial: [rcimage-smoothing]
+    xenial: [ros-kinetic-rc-cv-utils]
-rcimagesync:
+rc_diagnostic:
  ubuntu:
-    xenial: [rcimagesync]
+    xenial: [ros-kinetic-rc-diagnostic]
-cvkit:
+rc_dynamics_api:
  ubuntu:
-    xenial: [cvkit]
+    xenial: [ros-kinetic-rc-dynamics-api]
-rcconsole:
+rc_genicam_api:
  ubuntu:
-    xenial: [rcconsole]
+    xenial: [ros-kinetic-rc-genicam-api]
 rc_imagesync:
  ubuntu:
    xenial: [ros-kinetic-rc-imagesync]
-rcobjectdetection_common:
+rc_parameter_collection_ros_proxy:
-  ubuntu:
-    xenial: [rcobjectdetection-common]
-rcsys_utils:
  ubuntu:
-    xenial: [rcsys-utils]
+    xenial: [ros-kinetic-rc-parameter-collection-ros-proxy]
-rcapps_msgs:
+rc_statemachine:
  ubuntu:
-    xenial: [rcapps-msgs]
+    xenial: [ros-kinetic-rc-statemachine]
-rcstatemachine:
+rc_visard_driver:
  ubuntu:
-    xenial: [rcstatemachine]
+    xenial: [ros-kinetic-rc-visard-driver]
-rcparameter_collection:
+rcapps_msgs:
  ubuntu:
-    xenial: [rcparameter-collection]
+    xenial: [rcapps-msgs]
-rc_tagdetection:
+rccomm_utils:
  ubuntu:
-    xenial: [ros-kinetic-rc-tagdetection]
+    xenial: [rccomm-utils]
-rc_comm_utils:
+rcconsole:
  ubuntu:
-    xenial: [ros-kinetic-rc-comm-utils]
+    xenial: [rcconsole]
 rcimage:
  ubuntu:
    xenial: [rcimage]
-rc_bagthrottler:
+rcimage_smoothing:
  ubuntu:
-    xenial: [ros-kinetic-rc-bagthrottler]
+    xenial: [rcimage-smoothing]
-rc_visard_driver:
+rcimagesync:
  ubuntu:
-    xenial: [ros-kinetic-rc-visard-driver]
+    xenial: [rcimagesync]
-rctagdetection:
+rcobjectdetection_common:
  ubuntu:
-    xenial: [rctagdetection]
+    xenial: [rcobjectdetection-common]
-rc_objectdetection_shape:
+rcobjectdetection_shape_thomas:
  ubuntu:
-    xenial: [ros-kinetic-rc-objectdetection-shape]
+    xenial: [rcobjectdetection-shape-thomas]
-rc_statemachine:
+rcobjectrendering:
  ubuntu:
-    xenial: [ros-kinetic-rc-statemachine]
+    xenial: [rcobjectrendering]
-apriltag:
+rcparameter_collection:
  ubuntu:
-    xenial: [apriltag]
+    xenial: [rcparameter-collection]
-rc_dynamics_api:
+rcstatemachine:
  ubuntu:
-    xenial: [ros-kinetic-rc-dynamics-api]
+    xenial: [rcstatemachine]
-rc_apps_msgs:
+rcsys_utils:
  ubuntu:
-    xenial: [ros-kinetic-rc-apps-msgs]
+    xenial: [rcsys-utils]
-rc_genicam_api:
+rctagdetection:
  ubuntu:
-    xenial: [ros-kinetic-rc-genicam-api]
+    xenial: [rctagdetection]
-rcobjectrendering:
+robotnik_base_hw_lib:
-  ubuntu:
+  ubuntu: [ros-kinetic-robotnik-base-hw-lib]
-    xenial: [rcobjectrendering]
-rc_diagnostic:
+telicam-1.1.0:
-  ubuntu:
+  ubuntu: [libtelicam-sdk-1.1.0]
-    xenial: [ros-kinetic-rc-diagnostic]
-rcobjectdetection_shape_thomas:
+telicam-sdk:
-  ubuntu:
+  ubuntu: [telicam-sdk]
-    xenial: [rcobjectdetection-shape-thomas]
-rc_cv_utils:
+zivid:
-  ubuntu:
+  ubuntu: [zivid]
-    xenial: [ros-kinetic-rc-cv-utils]
+zivid1.8:
+  ubuntu: [zivid1.8]
+zivid_telicam_driver:
+  ubuntu: [zivid-telicam-driver]
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