From dabe19edf952c87f7ffa97ce49ed4bcd1e277cec Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <denis@stoglrobotics.de>
Date: Thu, 30 Jun 2022 19:50:08 +0200
Subject: [PATCH] Update and fix CI setup (#752)

* Add names to ABI compatibility workflows.
* Don't use source build on the old distros.
* Disable rhel build on PRs since it will failanyway.
* We need common linters in packages that generate messages since those auto automatically used.
* remove disabling of tests.
---
 .github/workflows/README.md                   |  7 ++++
 .github/workflows/ci-coverage-build.yml       | 17 ++++++----
 .github/workflows/ci-ros-lint.yml             | 14 ++++----
 .github/workflows/foxy-abi-compatibility.yml  |  5 ++-
 ...y-build.yml => foxy-binary-build-main.yml} |  6 +++-
 ...ld.yml => foxy-semi-binary-build-main.yml} |  6 +++-
 .github/workflows/foxy-source-build.yml       | 15 ---------
 .../workflows/galactic-abi-compatibility.yml  |  5 ++-
 ...ild.yml => galactic-binary-build-main.yml} |  6 +++-
 .../workflows/galactic-rhel-binary-build.yml  | 33 +++++++++++++++++++
 ...ml => galactic-semi-binary-build-main.yml} |  5 +--
 ...focal.yml => humble-abi-compatibility.yml} | 11 +++----
 .../workflows/humble-binary-build-main.yml    | 26 +++++++++++++++
 .../workflows/humble-binary-build-testing.yml | 26 +++++++++++++++
 .../workflows/humble-rhel-binary-build.yml    | 33 +++++++++++++++++++
 .../humble-semi-binary-build-main.yml         | 25 ++++++++++++++
 .../humble-semi-binary-build-testing.yml      | 25 ++++++++++++++
 ...urce-build.yml => humble-source-build.yml} | 12 ++++---
 .../reusable-industrial-ci-with-cache.yml     | 30 ++++++-----------
 .../reusable-ros-tooling-source-build.yml     | 17 ++++++----
 .../workflows/rolling-abi-compatibility.yml   |  4 ++-
 ...uild.yml => rolling-binary-build-main.yml} |  6 +++-
 ...l.yml => rolling-binary-build-testing.yml} | 11 +++----
 .../workflows/rolling-rhel-binary-build.yml   |  3 ++
 ...yml => rolling-semi-binary-build-main.yml} |  6 +++-
 ... => rolling-semi-binary-build-testing.yml} | 11 +++----
 .github/workflows/rolling-source-build.yml    |  4 +++
 README.md                                     | 10 +++---
 controller_manager_msgs/package.xml           |  2 ++
 ros2_control-not-released.humble.repos        |  1 +
 ros2_control.humble.repos                     |  9 +++++
 31 files changed, 301 insertions(+), 90 deletions(-)
 create mode 100644 .github/workflows/README.md
 rename .github/workflows/{foxy-binary-build.yml => foxy-binary-build-main.yml} (84%)
 rename .github/workflows/{foxy-semi-binary-build.yml => foxy-semi-binary-build-main.yml} (81%)
 delete mode 100644 .github/workflows/foxy-source-build.yml
 rename .github/workflows/{galactic-binary-build.yml => galactic-binary-build-main.yml} (83%)
 create mode 100644 .github/workflows/galactic-rhel-binary-build.yml
 rename .github/workflows/{galactic-semi-binary-build.yml => galactic-semi-binary-build-main.yml} (85%)
 rename .github/workflows/{rolling-abi-compatibility-last-focal.yml => humble-abi-compatibility.yml} (53%)
 create mode 100644 .github/workflows/humble-binary-build-main.yml
 create mode 100644 .github/workflows/humble-binary-build-testing.yml
 create mode 100644 .github/workflows/humble-rhel-binary-build.yml
 create mode 100644 .github/workflows/humble-semi-binary-build-main.yml
 create mode 100644 .github/workflows/humble-semi-binary-build-testing.yml
 rename .github/workflows/{galactic-source-build.yml => humble-source-build.yml} (57%)
 rename .github/workflows/{rolling-binary-build.yml => rolling-binary-build-main.yml} (83%)
 rename .github/workflows/{rolling-binary-build-last-focal.yml => rolling-binary-build-testing.yml} (66%)
 rename .github/workflows/{rolling-semi-binary-build.yml => rolling-semi-binary-build-main.yml} (81%)
 rename .github/workflows/{rolling-semi-binary-build-last-focal.yml => rolling-semi-binary-build-testing.yml} (63%)
 create mode 100644 ros2_control-not-released.humble.repos
 create mode 100644 ros2_control.humble.repos

diff --git a/.github/workflows/README.md b/.github/workflows/README.md
new file mode 100644
index 0000000000..fd751faeef
--- /dev/null
+++ b/.github/workflows/README.md
@@ -0,0 +1,7 @@
+
+ROS2 Distro | Branch | Build status | Documentation | Released packages
+:---------: | :----: | :----------: | :-----------: | :---------------:
+**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_control/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-testing.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-testing.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-testing.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-testing.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
+**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-main.yml?branch=galactic) <br /> [![Galactic Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-testing.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-main.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-testing.yml?branch=galactic) | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#galactic)
+**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-main.yml?branch=foxy) <br /> [![Foxy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-testing.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-main.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-testing.yml?branch=foxy) | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#foxy)
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
index 6fa6724f64..a2d02ed8a0 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/ci-coverage-build.yml
@@ -1,5 +1,8 @@
 name: Coverage Build
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -7,17 +10,17 @@ on:
 jobs:
   coverage:
     name: coverage build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
     env:
       ROS_DISTRO: rolling
     steps:
-      - uses: ros-tooling/setup-ros@v0.2
+      - uses: ros-tooling/setup-ros@0.3.4
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v3
-      - uses: ros-tooling/action-ros-ci@v0.2
+      - uses: ros-tooling/action-ros-ci@0.2.6
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -31,6 +34,7 @@ jobs:
             ros2_control
             ros2_control_test_assets
             transmission_interface
+
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-defaults: |
@@ -40,13 +44,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-          skip-tests: true
-      - uses: codecov/codecov-action@v1.0.14
+      - uses: codecov/codecov-action@v3.1.0
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v1
+      - uses: actions/upload-artifact@v3.1.0
         with:
-          name: colcon-logs-${{ matrix.os }}
+          name: colcon-logs-ubuntu-22.04-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
index 55e1dad0c9..009c394bfe 100644
--- a/.github/workflows/ci-ros-lint.yml
+++ b/.github/workflows/ci-ros-lint.yml
@@ -9,13 +9,13 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          linter: [copyright, cppcheck, lint_cmake]
+          linter: [cppcheck, copyright, lint_cmake]
     steps:
     - uses: actions/checkout@v3
     - uses: ros-tooling/setup-ros@v0.2
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
-        distribution: galactic
+        distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
           controller_interface
@@ -27,19 +27,21 @@ jobs:
           ros2_control_test_assets
           transmission_interface
 
-  ament_lint_cpplint:
-    name: ament_lint_cpplint
+  ament_lint_100:
+    name: ament_${{ matrix.linter }}
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
+      matrix:
+          linter: [cpplint]
     steps:
     - uses: actions/checkout@v3
     - uses: ros-tooling/setup-ros@v0.2
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
-        distribution: galactic
+        distribution: rolling
         linter: cpplint
-        arguments: "--filter=-whitespace/newline"
+        arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
           controller_interface
           controller_manager
diff --git a/.github/workflows/foxy-abi-compatibility.yml b/.github/workflows/foxy-abi-compatibility.yml
index 40b1e1133f..7ce17effd0 100644
--- a/.github/workflows/foxy-abi-compatibility.yml
+++ b/.github/workflows/foxy-abi-compatibility.yml
@@ -1,5 +1,8 @@
-name: ABI Compatibility Check
+name: Foxy - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
diff --git a/.github/workflows/foxy-binary-build.yml b/.github/workflows/foxy-binary-build-main.yml
similarity index 84%
rename from .github/workflows/foxy-binary-build.yml
rename to .github/workflows/foxy-binary-build-main.yml
index da67426ec5..0d74ce64e4 100644
--- a/.github/workflows/foxy-binary-build.yml
+++ b/.github/workflows/foxy-binary-build-main.yml
@@ -1,8 +1,11 @@
-name: Foxy Binary Build
+name: Foxy Binary Build - main
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
@@ -18,5 +21,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: foxy
+      ros_repo: main
       upstream_workspace: ros2_control-not-released.foxy.repos
       ref_for_scheduled_build: foxy
diff --git a/.github/workflows/foxy-semi-binary-build.yml b/.github/workflows/foxy-semi-binary-build-main.yml
similarity index 81%
rename from .github/workflows/foxy-semi-binary-build.yml
rename to .github/workflows/foxy-semi-binary-build-main.yml
index 93f75616d3..68e709cc00 100644
--- a/.github/workflows/foxy-semi-binary-build.yml
+++ b/.github/workflows/foxy-semi-binary-build-main.yml
@@ -1,7 +1,10 @@
-name: Foxy Semi-Binary Build
+name: Foxy Semi-Binary Build - main
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
@@ -17,5 +20,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: foxy
+      ros_repo: main
       upstream_workspace: ros2_control.foxy.repos
       ref_for_scheduled_build: foxy
diff --git a/.github/workflows/foxy-source-build.yml b/.github/workflows/foxy-source-build.yml
deleted file mode 100644
index 94be8d8b57..0000000000
--- a/.github/workflows/foxy-source-build.yml
+++ /dev/null
@@ -1,15 +0,0 @@
-name: Foxy Source Build
-on:
-  push:
-    branches:
-      - foxy
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
-    with:
-      ros_distro: foxy
-      ref: foxy
diff --git a/.github/workflows/galactic-abi-compatibility.yml b/.github/workflows/galactic-abi-compatibility.yml
index 41c663dd9c..06a48ef9c7 100644
--- a/.github/workflows/galactic-abi-compatibility.yml
+++ b/.github/workflows/galactic-abi-compatibility.yml
@@ -1,5 +1,8 @@
-name: ABI Compatibility Check
+name: Galactic - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - galactic
   pull_request:
     branches:
       - galactic
diff --git a/.github/workflows/galactic-binary-build.yml b/.github/workflows/galactic-binary-build-main.yml
similarity index 83%
rename from .github/workflows/galactic-binary-build.yml
rename to .github/workflows/galactic-binary-build-main.yml
index 97f8a8f231..f50c773444 100644
--- a/.github/workflows/galactic-binary-build.yml
+++ b/.github/workflows/galactic-binary-build-main.yml
@@ -1,8 +1,11 @@
-name: Galactic Binary Build
+name: Galactic Binary Build - main
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - galactic
   pull_request:
     branches:
       - galactic
@@ -18,5 +21,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: galactic
+      ros_repo: main
       upstream_workspace: ros2_control-not-released.galactic.repos
       ref_for_scheduled_build: galactic
diff --git a/.github/workflows/galactic-rhel-binary-build.yml b/.github/workflows/galactic-rhel-binary-build.yml
new file mode 100644
index 0000000000..cd2d5f0862
--- /dev/null
+++ b/.github/workflows/galactic-rhel-binary-build.yml
@@ -0,0 +1,33 @@
+name: Galactic RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - galactic
+  pull_request:
+    branches:
+      - galactic
+  push:
+    branches:
+      - galactic
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  galactic_rhel_binary:
+    name: Galactic RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: galactic
+    container: jaronl/ros:galactic-alma
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/ros2_control
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_control
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test
diff --git a/.github/workflows/galactic-semi-binary-build.yml b/.github/workflows/galactic-semi-binary-build-main.yml
similarity index 85%
rename from .github/workflows/galactic-semi-binary-build.yml
rename to .github/workflows/galactic-semi-binary-build-main.yml
index 9e7073e263..0578366a45 100644
--- a/.github/workflows/galactic-semi-binary-build.yml
+++ b/.github/workflows/galactic-semi-binary-build-main.yml
@@ -1,8 +1,8 @@
-name: Galactic Semi-Binary Build
+name: Galactic Semi-Binary Build - main
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
-  pull_request:
+  workflow_dispatch:
     branches:
       - galactic
   push:
@@ -17,5 +17,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: galactic
+      ros_repo: main
       upstream_workspace: ros2_control.galactic.repos
       ref_for_scheduled_build: galactic
diff --git a/.github/workflows/rolling-abi-compatibility-last-focal.yml b/.github/workflows/humble-abi-compatibility.yml
similarity index 53%
rename from .github/workflows/rolling-abi-compatibility-last-focal.yml
rename to .github/workflows/humble-abi-compatibility.yml
index 80433e2494..1be00cfc76 100644
--- a/.github/workflows/rolling-abi-compatibility-last-focal.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -1,5 +1,8 @@
-name: ABI Compatibility Check - Last Focal
+name: Humble - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -11,11 +14,7 @@ jobs:
       - uses: actions/checkout@v3
       - uses: ros-industrial/industrial_ci@master
         env:
-          ROS_DISTRO: rolling
+          ROS_DISTRO: humble
           ROS_REPO: main
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
-          OS_CODE_NAME: focal
-          BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: |
-            export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2022-01-28/index-v4.yaml
-            rosdep update
diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build-main.yml
new file mode 100644
index 0000000000..365744af4b
--- /dev/null
+++ b/.github/workflows/humble-binary-build-main.yml
@@ -0,0 +1,26 @@
+name: Humble Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: main
+      upstream_workspace: ros2_control-not-released.humble.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml
new file mode 100644
index 0000000000..edb94f3fe8
--- /dev/null
+++ b/.github/workflows/humble-binary-build-testing.yml
@@ -0,0 +1,26 @@
+name: Humble Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_control-not-released.humble.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
new file mode 100644
index 0000000000..554e306d65
--- /dev/null
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -0,0 +1,33 @@
+name: Humble RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - master
+#  pull_request:
+#    branches:
+#      - master
+#  push:
+#    branches:
+#      - master
+#  schedule:
+#    # Run every day to detect flakiness and broken dependencies
+#    - cron: '03 1 * * *'
+
+
+jobs:
+  humble_rhel_binary:
+    name: Humble RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: humble
+    container: jaronl/ros:humble-alma
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/ros2_control
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_control
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
new file mode 100644
index 0000000000..7e79db3264
--- /dev/null
+++ b/.github/workflows/humble-semi-binary-build-main.yml
@@ -0,0 +1,25 @@
+name: Humble Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: main
+      upstream_workspace: ros2_control.humble.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build-testing.yml
new file mode 100644
index 0000000000..485e49f2cf
--- /dev/null
+++ b/.github/workflows/humble-semi-binary-build-testing.yml
@@ -0,0 +1,25 @@
+name: Humble Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_control.humble.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/galactic-source-build.yml b/.github/workflows/humble-source-build.yml
similarity index 57%
rename from .github/workflows/galactic-source-build.yml
rename to .github/workflows/humble-source-build.yml
index d1c3aa97e8..18c33b6d52 100644
--- a/.github/workflows/galactic-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -1,8 +1,11 @@
-name: Galactic Source Build
+name: Humble Source Build
 on:
+  workflow_dispatch:
+    branches:
+      - master
   push:
     branches:
-      - galactic
+      - master
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -11,5 +14,6 @@ jobs:
   source:
     uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
     with:
-      ros_distro: galactic
-      ref: galactic
+      ros_distro: humble
+      ref: master
+      ros2_repo_branch: humble
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
index 9d2722099d..0ff359d091 100644
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -20,8 +20,8 @@ on:
         required: true
         type: string
       ros_repo:
-        description: 'ROS_REPO to run for industrial_ci. Possible values: "all", "main", "testing"'
-        default: 'all'
+        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
+        default: 'main'
         required: false
         type: string
       os_code_name:
@@ -49,27 +49,23 @@ on:
 
 jobs:
   reusable_industrial_ci_with_cache:
-    name: ${{ matrix.ROS_REPO }} ${{ inputs.ros_distro }} ${{ inputs.os_code_name }}
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_REPO: [ main, testing ]
+    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
     runs-on: ubuntu-latest
     env:
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.os_code_name }}-${{ matrix.ROS_REPO }}-${{ github.job }}
+      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.os_code_name }}-${{ inputs.ros_repo }}-${{ github.job }}
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
-        if: ${{ (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) && github.event_name != 'schedule' }}
+        if: ${{ github.event_name != 'schedule' }}
         uses: actions/checkout@v3
       - name: Checkout ${{ inputs.ref }} on scheduled build
-        if: ${{ (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) && github.event_name == 'schedule' }}
+        if: ${{ github.event_name == 'schedule' }}
         uses: actions/checkout@v3
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV && (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) }}
+        if: ${{ ! matrix.env.CCOV }}
         uses: pat-s/always-upload-cache@v2.1.5
         with:
           path: ${{ env.BASEDIR }}/target_ws
@@ -77,7 +73,6 @@ jobs:
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        if: ${{ inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO }}
         uses: pat-s/always-upload-cache@v2.1.5
         with:
           path: ${{ env.CCACHE_DIR }}
@@ -85,22 +80,17 @@ jobs:
           restore-keys: |
             ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ccache-${{ env.CACHE_PREFIX }}
-      - if: ${{ inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO }}
-        uses: 'ros-industrial/industrial_ci@master'
+      - uses: 'ros-industrial/industrial_ci@master'
         env:
           UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
           ROS_DISTRO: ${{ inputs.ros_distro }}
-          ROS_REPO: ${{ matrix.ROS_REPO }}
+          ROS_REPO: ${{ inputs.ros_repo }}
           OS_CODE_NAME: ${{ inputs.os_code_name }}
           BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
       - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV && (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) }}
+        if: ${{ always() && ! matrix.env.CCOV }}
         run: |
           du -sh ${{ env.BASEDIR }}/target_ws
           sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
           sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
           du -sh ${{ env.BASEDIR }}/target_ws
-      - name: Is job skipped?
-        if: ${{ ! (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) }}
-        run: |
-          echo "This job is skpped!"
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
index 71afebac1e..4e5174405d 100644
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -13,21 +13,26 @@ on:
         description: 'Reference on which the repo should be checkout. Usually is this name of a branch or a tag.'
         required: true
         type: string
+      ros2_repo_branch:
+        description: 'Branch in the ros2/ros2 repozitory from which ".repos" should be used. Possible values: master (Rolling), humble, galactic, foxy.'
+        default: 'master'
+        required: false
+        type: string
 
 jobs:
   reusable_ros_tooling_source_build:
-    name: ${{ inputs.ros_distro }} ubuntu-20.04
-    runs-on: ubuntu-20.04
+    name: ${{ inputs.ros_distro }} ubuntu-22.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@v0.3
+      - uses: ros-tooling/setup-ros@0.3.4
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
       - uses: actions/checkout@v3
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@v0.2
+      - uses: ros-tooling/action-ros-ci@0.2.6
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
@@ -41,10 +46,10 @@ jobs:
             ros2_control_test_assets
             transmission_interface
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros_distro }}/ros2.repos
+            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
       - uses: actions/upload-artifact@v1
         with:
-          name: colcon-logs-ubuntu-20.04
+          name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index dc797d7718..4589e92e3b 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,6 +1,8 @@
-name: ABI Compatibility Check
+name: Rolling - ABI Compatibility Check
 on:
   workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build-main.yml
similarity index 83%
rename from .github/workflows/rolling-binary-build.yml
rename to .github/workflows/rolling-binary-build-main.yml
index 419d78e850..05a9b9c0b2 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build-main.yml
@@ -1,8 +1,11 @@
-name: Rolling Binary Build
+name: Rolling Binary Build - main
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -18,5 +21,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: rolling
+      ros_repo: main
       upstream_workspace: ros2_control-not-released.rolling.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build-last-focal.yml b/.github/workflows/rolling-binary-build-testing.yml
similarity index 66%
rename from .github/workflows/rolling-binary-build-last-focal.yml
rename to .github/workflows/rolling-binary-build-testing.yml
index d9bfc0e334..811c96fce4 100644
--- a/.github/workflows/rolling-binary-build-last-focal.yml
+++ b/.github/workflows/rolling-binary-build-testing.yml
@@ -1,8 +1,11 @@
-name: Rolling Binary Build - Last Focal
+name: Rolling Binary Build - testing
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -18,10 +21,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: rolling
+      ros_repo: testing
       upstream_workspace: ros2_control-not-released.rolling.repos
       ref_for_scheduled_build: master
-      ros_repo: main
-      os_code_name: focal
-      before_install_upstream_dependencies: |
-          export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2022-01-28/index-v4.yaml
-          rosdep update
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index c7d1ffc675..fe7386b75b 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,5 +1,8 @@
 name: Rolling RHEL Binary Build
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build-main.yml
similarity index 81%
rename from .github/workflows/rolling-semi-binary-build.yml
rename to .github/workflows/rolling-semi-binary-build-main.yml
index c6b0535ef9..1033dd1e6c 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build-main.yml
@@ -1,7 +1,10 @@
-name: Rolling Semi-Binary Build
+name: Rolling Semi-Binary Build - main
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -17,5 +20,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: rolling
+      ros_repo: main
       upstream_workspace: ros2_control.rolling.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build-last-focal.yml b/.github/workflows/rolling-semi-binary-build-testing.yml
similarity index 63%
rename from .github/workflows/rolling-semi-binary-build-last-focal.yml
rename to .github/workflows/rolling-semi-binary-build-testing.yml
index 04538e34b8..4ddfcf5057 100644
--- a/.github/workflows/rolling-semi-binary-build-last-focal.yml
+++ b/.github/workflows/rolling-semi-binary-build-testing.yml
@@ -1,7 +1,10 @@
-name: Rolling Semi-Binary Build - Last Focal
+name: Rolling Semi-Binary Build - testing
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -17,10 +20,6 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: rolling
+      ros_repo: testing
       upstream_workspace: ros2_control.rolling.repos
       ref_for_scheduled_build: master
-      ros_repo: main
-      os_code_name: focal
-      before_install_upstream_dependencies: |
-          export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2022-01-28/index-v4.yaml
-          rosdep update
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 0a0ae8de43..b96ad0298e 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -1,5 +1,8 @@
 name: Rolling Source Build
 on:
+  workflow_dispatch:
+    branches:
+      - master
   push:
     branches:
       - master
@@ -13,3 +16,4 @@ jobs:
     with:
       ros_distro: rolling
       ref: master
+      ros2_repo_branch: master
diff --git a/README.md b/README.md
index a4a55c7c87..0d060c76f5 100644
--- a/README.md
+++ b/README.md
@@ -10,10 +10,12 @@ For more, please check the [documentation](https://ros-controls.github.io/contro
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
-**Rolling - last Focal** | [`master`](https://github.com/ros-controls/ros2_control/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-last-focal.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-last-focal.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
-**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> [![Galactic Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-source-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-source-build.yml?branch=galactic) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/) | [ros2_control](https://index.ros.org/p/ros2_control/#galactic)
-**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> [![Foxy Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-source-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-source-build.yml?branch=foxy) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/) | [ros2_control](https://index.ros.org/p/ros2_control/#foxy)
+**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_control/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
+**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-binary-build-main.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control/actions/workflows/galactic-semi-binary-build-main.yml?branch=galactic) | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#galactic)
+**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-binary-build-main.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control/actions/workflows/foxy-semi-binary-build-main.yml?branch=foxy) | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#foxy)
+
+[Detailed build status](.github/workflows/README.md)
 
 ### Explanation of different build types
 
diff --git a/controller_manager_msgs/package.xml b/controller_manager_msgs/package.xml
index 4ff02ebbfb..de444ff168 100644
--- a/controller_manager_msgs/package.xml
+++ b/controller_manager_msgs/package.xml
@@ -20,6 +20,8 @@
   <exec_depend>lifecycle_msgs</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
+  <test_depend>ament_lint_common</test_depend>
+
   <member_of_group>rosidl_interface_packages</member_of_group>
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/ros2_control-not-released.humble.repos b/ros2_control-not-released.humble.repos
new file mode 100644
index 0000000000..56f46b6f79
--- /dev/null
+++ b/ros2_control-not-released.humble.repos
@@ -0,0 +1 @@
+repositories:
diff --git a/ros2_control.humble.repos b/ros2_control.humble.repos
new file mode 100644
index 0000000000..afb1cbf640
--- /dev/null
+++ b/ros2_control.humble.repos
@@ -0,0 +1,9 @@
+repositories:
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: foxy-devel
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: galactic-devel