Disable strict timing by passing cmake args (#885)

Author: christophfroehlich

.github/workflows/build_and_publish_debian_docker.yaml

@@ -92,6 +92,7 @@ jobs:
       matrix:
         ROS_DISTRO: [rolling, humble, jazzy, kilted]
     with:
+      target_cmake_args: -DROS2_CONTROL_STRICT_TIMING_TESTS=OFF
       ros_distro: ${{ matrix.ROS_DISTRO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
       skip_packages_regex: '^mujoco_ros2_control.*$|^gz_ros2_control.*$|^ros2_control_demo_example_9$|^ros2_control_demos$|^ign_ros2_control.*$'

.github/workflows/build_and_publish_rhel_docker.yaml

@@ -92,6 +92,7 @@ jobs:
       matrix:
         ROS_DISTRO: [rolling, humble, jazzy, kilted, lyrical]
     with:
+      target_cmake_args: -DROS2_CONTROL_STRICT_TIMING_TESTS=OFF
       ros_distro: ${{ matrix.ROS_DISTRO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
       skip_packages_regex: '^mujoco_ros2_control.*$|^gz_ros2_control.*$|^ros2_control_demo_example_9$|^ros2_control_demos$|^ign_ros2_control.*$'

.github/workflows/build_and_publish_ubuntu_docker.yaml

@@ -114,6 +114,7 @@ jobs:
           - ROS_DISTRO: rolling
             ROS_REPO: main
     with:
+      target_cmake_args: -DROS2_CONTROL_STRICT_TIMING_TESTS=OFF
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
@@ -130,6 +131,7 @@ jobs:
         ROS_DISTRO: [kilted, humble, jazzy, lyrical]
         ROS_REPO: [main, testing]
     with:
+      target_cmake_args: -DROS2_CONTROL_STRICT_TIMING_TESTS=OFF
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
       target_workspace: ros_controls.rolling-on-${{ matrix.ROS_DISTRO }}.repos

.github/workflows/debian-stack-build.yml

@@ -47,6 +47,7 @@ jobs:
       matrix:
         ROS_DISTRO: [humble, jazzy, kilted, lyrical, rolling]
     with:
+      target_cmake_args: -DROS2_CONTROL_STRICT_TIMING_TESTS=OFF
       ros_distro: ${{ matrix.ROS_DISTRO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
       skip_packages_regex: '^mujoco_ros2_control.*$|^gz_ros2_control.*$|^ros2_control_demo_example_9$|^ros2_control_demos$|^ign_ros2_control.*$'

.github/workflows/humble-binary-build.yml

@@ -51,6 +51,7 @@ jobs:
         ROS_DISTRO: [humble]
         ROS_REPO: [main, testing]
     with:
+      target_cmake_args: -DROS2_CONTROL_STRICT_TIMING_TESTS=OFF
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos

.github/workflows/jazzy-binary-build.yml

@@ -51,6 +51,7 @@ jobs:
         ROS_DISTRO: [jazzy]
         ROS_REPO: [main, testing]
     with:
+      target_cmake_args: -DROS2_CONTROL_STRICT_TIMING_TESTS=OFF
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos

.github/workflows/kilted-binary-build.yml

@@ -51,6 +51,7 @@ jobs:
         ROS_DISTRO: [kilted]
         ROS_REPO: [main, testing]
     with:
+      target_cmake_args: -DROS2_CONTROL_STRICT_TIMING_TESTS=OFF
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos

.github/workflows/lyrical-binary-build.yml

@@ -51,6 +51,7 @@ jobs:
         ROS_DISTRO: [lyrical]
         ROS_REPO: [main, testing]
     with:
+      target_cmake_args: -DROS2_CONTROL_STRICT_TIMING_TESTS=OFF
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos

.github/workflows/reusable-abi-check.yml

@@ -8,6 +8,11 @@ on:
         description: 'ROS_DISTRO variable for industrial_ci'
         required: true
         type: string
+      target_cmake_args:
+        description: "Additional arguments to pass to CMake, e.g. -DBUILD_TESTING=OFF"
+        default: ""
+        required: false
+        type: string
 
 
 jobs:
@@ -24,6 +29,7 @@ jobs:
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
           BASEDIR: ${{ github.workspace }}/.work
+          CMAKE_ARGS: ${{ inputs.target_cmake_args }}
       - uses: actions/upload-artifact@v7
         if: always()
         with:

.github/workflows/reusable-build-coverage.yml

@@ -10,6 +10,10 @@ on:
         description: 'Add debug output'
         type: boolean
         default: false
+      target_cmake_args:
+        description: 'Additional CMake flags passed during build'
+        type: string
+        default: ''
 
 jobs:
   coverage:
@@ -104,6 +108,7 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+          extra-cmake-args: ${{ inputs.target_cmake_args }}
       - name: Test coverage tools
         if: ${{ inputs.debug }}
         run: |