Created an alternative job for rhel

Author: Sergi Romero Valderas

.github/workflows/industrial-ci.yml

@@ -8,12 +8,11 @@ on:
 
 jobs:
   industrial_ci:
-    name: ${{ matrix.ROS_DISTRO.NAME }} | ${{ matrix.ROS_REPO }}${{ matrix.PLATFORM == 'rhel' && ' (RHEL)' || ' (UBUNTU)' }}
+    name: ${{matrix.ROS_DISTRO.NAME}}, ${{matrix.ROS_REPO}} (UBUNTU)
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        PLATFORM: [ubuntu, rhel]
         ROS_DISTRO:
           - NAME: noetic
             DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master"
@@ -33,58 +32,63 @@ jobs:
         ROS_REPO:
           - main
           - testing
-
-        exclude:
-          - PLATFORM: rhel
-            ROS_DISTRO:
-              NAME: noetic
-              DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master"
-              CLANG_TIDY: ""
-
     env:
-      DOCKER_RUN_OPTS: "-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net"
+      DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net'
     steps:
       - uses: actions/checkout@v6
       - run: docker network create --subnet=192.168.56.0/24 ursim_net
         if: ${{ !env.ACT }}
-      - name: Platform-specific configuration
-        id: config
-        run: |
-          if [ "${{ matrix.PLATFORM }}" = "rhel" ]; then
-              echo "docker_image=ghcr.io/ros-controls/ros:${{ matrix.ROS_DISTRO.NAME }}-rhel" >> $GITHUB_OUTPUT
-              echo "additional_pkgs_name=ADDITIONAL_RPMS" >> $GITHUB_OUTPUT
-              echo "additional_pkgs_values=nmap-ncat" >> $GITHUB_OUTPUT
-              echo "os_name=rhel" >> $GITHUB_OUTPUT
-              echo "os_code=8" >> $GITHUB_OUTPUT
-
-          else
-            echo "additional_pkgs_name=ADDITIONAL_DEBS" >> $GITHUB_OUTPUT
-            echo "additional_pkgs_values=docker.io netcat-openbsd" >> $GITHUB_OUTPUT
-          fi
-
-      - name: industrial_ci (RHEL)
-        if: ${{ matrix.PLATFORM == 'rhel' }}
-        uses: ros-industrial/industrial_ci@master
+      - uses: 'ros-industrial/industrial_ci@master'
         env:
           IMMEDIATE_TEST_OUTPUT: true
           DOWNSTREAM_CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
-          DOWNSTREAM_WORKSPACE: ${{ matrix.ROS_DISTRO.DOWNSTREAM_WORKSPACE }}
-          ROS_DISTRO: ${{ matrix.ROS_DISTRO.NAME }}
-          ROS_REPO: ${{ matrix.ROS_REPO }}
-          CLANG_TIDY: ${{ matrix.ROS_DISTRO.CLANG_TIDY }}
-          DOCKER_IMAGE: ${{ steps.config.outputs.docker_image }}
-          OS_NAME: ${{ steps.config.outputs.os_name }}
-          OS_CODE_NAME: ${{ steps.config.outputs.os_code }}
-          ${{ steps.config.outputs.additional_pkgs_name }}: ${{ steps.config.outputs.additional_pkgs_values }}
+          ADDITIONAL_DEBS: docker.io netcat-openbsd  # Needed for integration tests
+          DOWNSTREAM_WORKSPACE: ${{matrix.ROS_DISTRO.DOWNSTREAM_WORKSPACE}}
+          ROS_DISTRO: ${{matrix.ROS_DISTRO.NAME}}
+          ROS_REPO: ${{matrix.ROS_REPO}}
+          CLANG_TIDY: ${{matrix.ROS_DISTRO.CLANG_TIDY}}
 
-      - name: industrial_ci (Ubuntu)
-        if: ${{ matrix.PLATFORM == 'ubuntu' }}
-        uses: ros-industrial/industrial_ci@master
+  industrial_ci_rhel:
+    name: ${{matrix.ROS_DISTRO.NAME}}, ${{matrix.ROS_REPO}} (RHEL)
+    runs-on: ubuntu-latest
+    container: ghcr.io/ros-controls/ros:${{ matrix.ROS_DISTRO.NAME }}-rhel
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO:
+          - NAME: humble
+            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#humble"
+            CLANG_TIDY: ""
+          - NAME: jazzy
+            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#jazzy"
+            CLANG_TIDY: ""
+          - NAME: kilted
+            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main"
+            CLANG_TIDY: ""
+          - NAME: rolling
+            DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main"
+            CLANG_TIDY: pedantic
+        ROS_REPO:
+          - main
+          - testing
+
+    container:
+      image: ghcr.io/ros-controls/ros:${{ matrix.ROS_DISTRO.NAME }}-rhel
+
+    env:
+      DOCKER_RUN_OPTS: "-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net"
+
+    steps:
+      - uses: actions/checkout@v6
+      - run: docker network create --subnet=192.168.56.0/24 ursim_net
+        if: ${{ !env.ACT }}
+        
+      - uses: ros-industrial/industrial_ci@master
         env:
           IMMEDIATE_TEST_OUTPUT: true
           DOWNSTREAM_CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
+          ADDITIONAL_RPMS: nmap-ncat
           DOWNSTREAM_WORKSPACE: ${{ matrix.ROS_DISTRO.DOWNSTREAM_WORKSPACE }}
           ROS_DISTRO: ${{ matrix.ROS_DISTRO.NAME }}
           ROS_REPO: ${{ matrix.ROS_REPO }}
-          CLANG_TIDY: ${{ matrix.ROS_DISTRO.CLANG_TIDY }}
-          ${{ steps.config.outputs.additional_pkgs_name }}: ${{ steps.config.outputs.additional_pkgs_values }}
+          CLANG_TIDY: ${{ matrix.ROS_DISTRO.CLANG_TIDY }}