Test supported ROS distributions

[kronk-bot]

[written by AI]

Problem

The existing Rolling/main CI row maps to Ubuntu Resolute, where the ROS main repository does not publish ros-rolling-ros-environment. Lyrical/main is installable, but compiling this repository on Lyrical also exposed removed ament_cmake and hardware_interface APIs.

Fix

• Test Humble/main, Jazzy/main, and Lyrical/main.
• Preserve Rolling coverage using Rolling/testing, where the required Resolute packages are published.
• Replace removed ament_target_dependencies() calls with imported CMake targets.
• Support both the legacy HardwareInfo initialization API and the HardwareComponentInterfaceParams API introduced before hardware_interface 6 and required from 6.0 onward.
• Isolate caches by ROS distribution and repository, pin Actions to immutable commits, and declare contents: read permissions.

This keeps support-matrix and compatibility maintenance separate from the SPDX-only change in #44.

Validation

• Humble: 22 tests, 0 errors, 0 failures
• Jazzy: 22 tests, 0 errors, 0 failures
• Lyrical: 21 tests, 0 errors, 0 failures
• Full pre-commit suite
• actionlint on the changed workflow
• git diff --check
• Independent ROS/C++, workflow/security, and immutable test reviews approved exact SHA 7b5090461140ed79fa3c34d8539317a69c96ed6b

[rlpratt12]

Why are we deleting rolling and not just adding lyrical in addition?

[kronk-bot]

[written by AI]

Addressed the review: Rolling coverage is retained, but moved from main to testing. On Ubuntu Resolute, the current ROS indexes contain ros-lyrical-ros-environment in main and ros-rolling-ros-environment in testing; Rolling’s package is absent from main.

The matrix is now Humble/main, Jazzy/main, Lyrical/main, and Rolling/testing. I also fixed the Lyrical compile failures exposed by the new row and verified the full package tests in clean Humble, Jazzy, and Lyrical containers.

[kronk-bot]

[written by AI]

The previous green run exposed a branch-policy compatibility issue: adding ROS_REPO to the matrix changed GitHub's automatic check names from industrial_ci (humble) to industrial_ci (humble, main) (and likewise for Jazzy/Rolling), so the historical required contexts could not match.

This head explicitly names each real matrix job industrial_ci (<distro>). It preserves the existing Humble, Jazzy, and Rolling required contexts, adds the real Lyrical context, and still runs Rolling against testing; no fake compatibility job or branch-rule edit is involved. Exact-SHA workflow review, full pre-commit, actionlint, and the immutable test gate passed.