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|
name: ROS
# cf:
# - https://github.com/AprilRobotics/apriltag/blob/master/.github/workflows/colcon-workspace.yml
# - https://github.com/ros-tooling/setup-ros
# https://www.jeffgeerling.com/blog/2020/running-github-actions-workflow-on-schedule-and-other-events
on:
pull_request:
types: [opened, reopened, synchronize]
# https://stackoverflow.com/questions/66335225/how-to-cancel-previous-runs-in-the-pr-when-you-push-new-commitsupdate-the-curre#comment133398800_72408109
# https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#concurrency
concurrency:
group: ${{ github.workflow }}-${{ github.ref || github.run_id }}
cancel-in-progress: true
jobs:
# https://github.com/orgs/community/discussions/28474#discussioncomment-3350256
check_skip_flags:
name: Check skip flags
runs-on: ubuntu-latest
outputs:
head-commit-message: ${{ steps.get_head_commit_message.outputs.headCommitMsg }}
steps:
- name: Get repo
uses: actions/checkout@v5
with:
ref: ${{ github.event.pull_request.head.sha }}
- name: Print head git commit message
id: get_head_commit_message
run: echo "headCommitMsg=$(git show -s --format=%s)" >> $GITHUB_OUTPUT
# build on Ubuntu docker images
build_linux:
name: "${{ matrix.docker_image }} (${{ matrix.ros_distribution }})"
needs: check_skip_flags
if: >-
${{
(!contains(needs.check_skip_flags.outputs.head-commit-message, '[SKIP-CI ALL]') &&
!contains(needs.check_skip_flags.outputs.head-commit-message, '[SKIP-CI ROS]')) ||
contains(needs.check_skip_flags.outputs.head-commit-message, '[ENABLE-CI ROS]')
}}
runs-on: ubuntu-latest
strategy:
matrix:
include:
- docker_image: ubuntu:20.04
ros_distribution: noetic
ros_version: 1
- docker_image: ubuntu:22.04
ros_distribution: humble
ros_version: 2
- docker_image: ubuntu:24.04
ros_distribution: jazzy
ros_version: 2
container:
image: ${{ matrix.docker_image }}
steps:
- uses: actions/checkout@v5
- name: Setup ROS environment
uses: ros-tooling/setup-ros@v0.7
with:
required-ros-distributions: ${{ matrix.ros_distribution }}
- name: Print ROS info
if: ${{ matrix.ros_version == 1 }}
shell: bash
run: |
ls /opt/ros/${{ matrix.ros_distribution }}
cat /opt/ros/${{ matrix.ros_distribution }}/setup.bash
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
rosrun --help
printenv | grep -i ROS
- name: Print ROS info
if: ${{ matrix.ros_version == 2 }}
shell: bash
run: |
ls /opt/ros/${{ matrix.ros_distribution }}
cat /opt/ros/${{ matrix.ros_distribution }}/setup.bash
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
ros2 run --help
printenv | grep -i ROS
- name: Print system information
run: lscpu
- name: Print OS information
run: lsb_release -a
- name: Print compiler information
run: dpkg --list | grep compiler
- name: Clone visp-images
env:
BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
run: |
git clone --depth 1 https://github.com/lagadic/visp-images ${HOME}/visp-images
echo "VISP_INPUT_IMAGE_PATH=$HOME/visp-images" >> $GITHUB_ENV
echo ${VISP_INPUT_IMAGE_PATH}
- name: Configure CMake
shell: bash
run: |
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
pwd
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
cat ViSP-third-party.txt
- name: Compile
working-directory: build
shell: bash
run: |
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
make -j$(nproc) install
- name: Run unit tests
working-directory: build
shell: bash
run: |
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
ctest -j$(nproc) --output-on-failure
- name: Print ROS info 2
if: ${{ matrix.ros_version == 1 }}
shell: bash
run: |
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
rosrun --help
printenv | grep -i ROS
rospack list-names
- name: Print ROS info 2
if: ${{ matrix.ros_version == 2 }}
shell: bash
run: |
source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
ros2 run --help
printenv | grep -i ROS
ros2 pkg list
|
