Use CI template

.github/workflows/build_and_test.yaml

@@ -1,39 +1,44 @@
 # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
-# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-name: Build and Test
+name: CI
 
-# This determines when this workflow is run
-on:
-  workflow_dispatch:
-  pull_request:
+on: # this determines when this workflow is run
   push:
-    branches:
-      - main
+  #   branches: [ master, melodic-devel ] #  when master or melodic-devel branch is pushed to
+  pull_request:
+  #   branches: [ master ] # when there is a pull request against master
+  # schedule: # uncomment to run periodically
+  #  - cron: '0 4 * * *' # every day at 4 AM (UTC)
+  workflow_dispatch: # allow manually starting this workflow
 
 jobs:
   industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    runs-on: ubuntu-latest
     strategy:
-      fail-fast: false
-      matrix:
-        rosdistro: [humble, jazzy]
-
+      # fail-fast: false # uncomment if failing jobs should not cancel the others immediately
+      matrix: # matrix is the product of entries
+        ROS_DISTRO: [humble, jazzy]
+        ROS_REPO: [testing, main]
+        # exclude: # specific configuration can be excludes
+        #   - {ROS_DISTRO: melodic, ROS_REPO: testing}
     env:
-      CCACHE_DIR: /github/home/.ccache
-      CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
-
-      ROS_DISTRO: ${{ matrix.env.rosdistro }}
-
-    runs-on: ubuntu-latest
+      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
     steps:
-      - uses: actions/checkout@v4
-      # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v4
+      - uses: actions/checkout@v4 # clone target repository
+      - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-{{ matrix.env.ROS_DISTRO }}-{{ matrix.env.ROS_REPO }}
-      # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@master'
-        env:
+          # This configuration will always create a new ccache cache starting off from the previous one (if any).
+          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
+          # and might need some fine-tuning to match the use case
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
+        env: # either pass all entries explicitly
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
-          ROS_REPO: main
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+        # with: # or pass the full matrix as config
+        #    config: ${{toJSON(matrix)}}