From cde29eeea2d77024770a50819cfb961604ed2c31 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Wed, 15 Nov 2023 14:07:48 +0100
Subject: [PATCH] towards rostests

---
 .ci/get_test_matrix.sh        |  37 ++++
 .ci/parse_yaml.py             |  16 +-
 .github/workflows/rostest.yml |  78 ++++++++
 mrs.yaml                      | 336 +++++++++++++++++++++-------------
 nonbloom.yaml                 |  35 ++--
 scripts/clone_all.sh          |   2 +-
 thirdparty.yaml               |  70 ++++---
 7 files changed, 398 insertions(+), 176 deletions(-)
 create mode 100755 .ci/get_test_matrix.sh
 create mode 100644 .github/workflows/rostest.yml

diff --git a/.ci/get_test_matrix.sh b/.ci/get_test_matrix.sh
new file mode 100755
index 0000000000..cb16191dba
--- /dev/null
+++ b/.ci/get_test_matrix.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?, log:" && cat /tmp/log.txt' ERR
+
+DEBUG=false
+
+LIST=mrs
+ARCH=amd64
+
+YAML_FILE=$LIST.yaml
+
+REPOS=$(./.ci/parse_yaml.py $YAML_FILE $ARCH)
+
+FIRST=true
+
+echo "["
+
+echo "$REPOS" | while IFS= read -r REPO; do
+
+  $DEBUG && echo "Cloning $REPO"
+
+  PACKAGE=$(echo "$REPO" | awk '{print $1}')
+  URL=$(echo "$REPO" | awk '{print $2}')
+  TEST=$(echo "$REPO" | awk '{print $6}')
+
+  if [[ "$TEST" != "True" ]]; then
+    continue
+  fi
+
+  echo "$PACKAGE,"
+
+done
+
+echo "]"
diff --git a/.ci/parse_yaml.py b/.ci/parse_yaml.py
index c7dbd39d7f..6a831b91c3 100755
--- a/.ci/parse_yaml.py
+++ b/.ci/parse_yaml.py
@@ -31,23 +31,31 @@ def main():
                 stable_ref = "none"
                 testing_ref = "none"
                 unstable_ref = "none"
+                ros_test = 0
+
+                refs = properties['git_refs']
+
+                try:
+                    stable_ref = refs['stable']
+                except:
+                    pass
 
                 try:
-                    stable_ref = properties['stable_ref']
+                    testing_ref = refs['testing']
                 except:
                     pass
 
                 try:
-                    testing_ref = properties['testing_ref']
+                    unstable_ref = refs['unstable']
                 except:
                     pass
 
                 try:
-                    unstable_ref = properties['unstable_ref']
+                    ros_test = bool(properties['ros_test'])
                 except:
                     pass
 
-                print("{} {} {} {} {}".format(package, url, stable_ref, testing_ref, unstable_ref))
+                print("{} {} {} {} {} {}".format(package, url, stable_ref, testing_ref, unstable_ref, ros_test))
 
 if __name__ == '__main__':
     main()
diff --git a/.github/workflows/rostest.yml b/.github/workflows/rostest.yml
new file mode 100644
index 0000000000..fdcd434b3d
--- /dev/null
+++ b/.github/workflows/rostest.yml
@@ -0,0 +1,78 @@
+name: rostest
+
+on:
+  workflow_dispatch:
+
+  # schedule:
+  #   - cron:  '0 20 * * *' # every day at 10pm UTC+2
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+
+jobs:
+
+  generate-jobs:
+    runs-on: ubuntu-20.04
+    outputs:
+      packages: ${{ steps.generate.outputs.packages }}
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          submodules: 'recursive'
+      - name: Checkout CI scripts
+        uses: actions/checkout@v3
+        with:
+          repository: ctu-mrs/ci_scripts
+          ref: master
+          path: .ci_scripts
+          token: ${{ secrets.PUSH_TOKEN }}
+      - id: generate
+        run: |
+          JOB_STRATEGY_MATRIX=$(./.ci/get_test_matrix.sh)
+          cat /tmp/log.txt
+          echo "packages=$JOB_STRATEGY_MATRIX" >> "$GITHUB_OUTPUT"
+
+  build-job:
+    needs: generate-jobs
+    runs-on: ubuntu-20.04
+    timeout-minutes: 360 # 6 hour timeout
+    strategy:
+      matrix:
+        job: ${{ fromJson(needs.generate-jobs.outputs.packages) }}
+      max-parallel: 1 # Run jobs serially
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          submodules: 'recursive'
+      - name: Checkout CI scripts
+        uses: actions/checkout@v3
+        with:
+          repository: ctu-mrs/ci_scripts
+          ref: master
+          path: .ci_scripts
+          token: ${{ secrets.PUSH_TOKEN }}
+      - id: build
+        run: |
+          echo "testing..."
+
+  merge:
+    runs-on: ubuntu-20.04
+    needs: build-job
+    env:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          submodules: 'recursive'
+      - name: Checkout CI scripts
+        uses: actions/checkout@v3
+        with:
+          repository: ctu-mrs/ci_scripts
+          ref: master
+          path: .ci_scripts
+          token: ${{ secrets.PUSH_TOKEN }}
+      - name: Merge
+        run: echo "Merging release_candidate to release"
diff --git a/mrs.yaml b/mrs.yaml
index c6d77fa60f..c17e3fdacd 100644
--- a/mrs.yaml
+++ b/mrs.yaml
@@ -1,293 +1,377 @@
 mrs_msgs:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_msgs
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_modules_msgs:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_modules_msgs
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_lib:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_lib
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: true
 
 mrs_uav_managers:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_managers
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: true
 
 mrs_bumper:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_bumper
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_multirotor_simulator:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_multirotor_simulator
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_controllers:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_controllers
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_autostart:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_autostart
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_hw_api:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_hw_api
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_state_estimators:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_state_estimators
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_deployment:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_deployment
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_status:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_status
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_trackers:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_trackers
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_px4_api:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_px4_api
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_dji_tello_api:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_dji_tello_api
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_rviz_plugins:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_rviz_plugins
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_trajectory_generation:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_trajectory_generation
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_serial:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_serial
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_path_loader:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_path_loader
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_trajectory_loader:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_trajectory_loader
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_utils:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_utils
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_gazebo_common_resources:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_gazebo_common_resources
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_pcl_tools:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_pcl_tools
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_subt_planning_lib:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_subt_planning_lib
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_octomap_tools:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_octomap_tools
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_octomap_server:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_octomap_server
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_octomap_planner:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_octomap_planner
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_octomap_mapping_planning:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_octomap_mapping_planning
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_coppelia_simulation:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_coppelia_simulation
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_gazebo_simulation:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_gazebo_simulation
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 aloam:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/aloam
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_modules:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_modules
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_core:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_core
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_uav_system:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_uav_system
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_hector_estimator_plugin:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_hector_estimator_plugin
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_hector_core:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_hector_core
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_open_vins_estimator_plugin:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_open_vins_estimator_plugin
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_vins_republisher:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_vins_republisher
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_vins_imu_filter:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_vins_imu_filter
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_open_vins_core:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_open_vins_core
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_aloam_estimator_plugin:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_aloam_estimator_plugin
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
 
 mrs_aloam_core:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mrs_aloam_core
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
+  ros_test: false
diff --git a/nonbloom.yaml b/nonbloom.yaml
index e67c5151b6..298bed5166 100644
--- a/nonbloom.yaml
+++ b/nonbloom.yaml
@@ -1,34 +1,39 @@
 mrs_uav_shell_additions:
   architecture: [amd64] # this package is for all architectures
   source: https://github.com/ctu-mrs/mrs_uav_shell_additions
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
 
 mrs_uav_usb_configurator:
   architecture: [amd64] # this package is for all architectures
   source: https://github.com/ctu-mrs/mrs_uav_usb_configurator
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
 
 mrs_geographiclib_datasets:
   architecture: [amd64] # this package is for all architectures
   source: https://github.com/ctu-mrs/mrs-geographiclib-datasets
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
 
 coppelia_sim_edu:
   architecture: [amd64] # this package is for all architectures
   source: https://github.com/ctu-mrs/coppelia_sim_edu
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
 
 px4_firmware:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/px4_firmware
-  unstable_ref: 1.13.2-dev
-  testing_ref: release_candidate
-  stable_ref: mrs_release
+  git_refs:
+    unstable: 1.13.2-dev
+    testing: release_candidate
+    stable: mrs_release
diff --git a/scripts/clone_all.sh b/scripts/clone_all.sh
index 47cf6fdf91..80a936acd2 100755
--- a/scripts/clone_all.sh
+++ b/scripts/clone_all.sh
@@ -31,7 +31,7 @@ do
     PACKAGE=$(echo "$REPO" | awk '{print $1}')
     URL=$(echo "$REPO" | awk '{print $2}')
     STABLE_BRANCH=$(echo "$REPO" | awk '{print $3}')
-    UNSTABLE_BRANCH=$(echo "$REPO" | awk '{print $4}')
+    UNSTABLE_BRANCH=$(echo "$REPO" | awk '{print $5}')
 
     if [ -e ./$PACKAGE ]; then
 
diff --git a/thirdparty.yaml b/thirdparty.yaml
index 163843285b..cdfd733804 100644
--- a/thirdparty.yaml
+++ b/thirdparty.yaml
@@ -1,69 +1,79 @@
 px4_sitl_gazebo:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/px4_sitl_gazebo
-  unstable_ref: firmware_1.13.2-deb
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: firmware_1.13.2-deb
+    testing: release_candidate
+    stable: release
 
 nlopt_ros:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/nlopt_ros
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
 
 ouster-ros:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/ouster-ros
-  unstable_ref: mrs
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: mrs
+    testing: release_candidate
+    stable: release
 
 mavros:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mavros
-  unstable_ref: 1.13.0-deb
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: 1.13.0-deb
+    testing: release_candidate
+    stable: release
 
 mav_comm:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/mav_comm
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
 
 ros_comm:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/ros_comm
-  unstable_ref: rosbag-patch
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: rosbag-patch
+    testing: release_candidate
+    stable: release
 
 geometry2:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/geometry2
-  unstable_ref: warning-fix
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: warning-fix
+    testing: release_candidate
+    stable: release
 
 nimbro_network:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/nimbro_network
-  unstable_ref: develop-deb
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: develop-deb
+    testing: release_candidate
+    stable: release
 
 hector_slam:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/hector_slam
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release
 
 open_vins:
   architecture: [amd64, arm64]
   source: https://github.com/ctu-mrs/open_vins
-  unstable_ref: master
-  testing_ref: release_candidate
-  stable_ref: release
+  git_refs:
+    unstable: master
+    testing: release_candidate
+    stable: release