From 4ff08410e0ec1644c84ac41eadca10833b5e92fa Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Tue, 13 Feb 2024 21:30:10 -0700 Subject: [PATCH 1/5] Use instructrial CI action Signed-off-by: Ryan Friedman --- .github/workflows/colcon.yaml | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 .github/workflows/colcon.yaml diff --git a/.github/workflows/colcon.yaml b/.github/workflows/colcon.yaml new file mode 100644 index 000000000..d5544abc3 --- /dev/null +++ b/.github/workflows/colcon.yaml @@ -0,0 +1,15 @@ +name: Colcon Build Test + +on: [push, pull_request] + +jobs: + industrial_ci: + strategy: + matrix: + env: + - {ROS_DISTRO: rolling, ROS_REPO: rolling} + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: 'ros-industrial/industrial_ci@master' + env: ${{matrix.env}} \ No newline at end of file From 1ba828b1cf8adc4abd043f31f183cc0324f3e4da Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Tue, 13 Feb 2024 21:46:52 -0700 Subject: [PATCH 2/5] Add colcon workflow Signed-off-by: Ryan Friedman --- .github/workflows/colcon.yaml | 53 ++++++++++++++++++++++------ .github/workflows/industrial_ci.yaml | 15 ++++++++ 2 files changed, 58 insertions(+), 10 deletions(-) create mode 100644 .github/workflows/industrial_ci.yaml diff --git a/.github/workflows/colcon.yaml b/.github/workflows/colcon.yaml index d5544abc3..b7e6003ed 100644 --- a/.github/workflows/colcon.yaml +++ b/.github/workflows/colcon.yaml @@ -1,15 +1,48 @@ name: Colcon Build Test - -on: [push, pull_request] - +on: + push: + branches: + - 'rolling' + - 'iron' + - 'humble' + pull_request: + branches: + - '*' jobs: - industrial_ci: + build-test: + runs-on: ubuntu-22.04 strategy: + fail-fast: false matrix: - env: - - {ROS_DISTRO: rolling, ROS_REPO: rolling} - runs-on: ubuntu-latest + config: + - {rosdistro: 'rolling', container: 'osrf/ros:rolling-desktop'} + container: ${{ matrix.config.container }} steps: - - uses: actions/checkout@v4 - - uses: 'ros-industrial/industrial_ci@master' - env: ${{matrix.env}} \ No newline at end of file + - uses: actions/checkout@v4 + with: + path: src/grid_map + - name: Pull in repos with vcs + run: | + apt-get update + vcs import --shallow --skip-existing --input grid_map/tools/ros2_dependencies.repos + shell: bash + working-directory: src + - name: Install Dependencies with Rosdep + run: | + apt update + rosdep update + source /opt/ros/${{matrix.config.rosdistro}}/setup.bash + rosdep install --from-paths src --ignore-src -y --skip-keys "slam_toolbox turtlebot3_gazebo gazebo_ros_pkgs" + shell: bash + - name: Colcon Build (Release) + run: | + source /opt/ros/${{matrix.config.rosdistro}}/setup.bash + colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to grid_map + shell: bash + - name: Test + run: | + source /opt/ros/${{matrix.config.rosdistro}}/setup.bash + source install/setup.bash + colcon test --return-code-on-test-failure --paths src/grid_map/* --event-handlers=console_cohesion+ + colcon test-result --all --verbose + shell: bash \ No newline at end of file diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml new file mode 100644 index 000000000..2de39f303 --- /dev/null +++ b/.github/workflows/industrial_ci.yaml @@ -0,0 +1,15 @@ +name: Instustrial CI Colcon Build Test + +on: [push, pull_request] + +jobs: + industrial_ci: + strategy: + matrix: + env: + - {ROS_DISTRO: rolling, ROS_REPO: rolling} + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + - uses: 'ros-industrial/industrial_ci@master' + env: ${{matrix.env}} From a354a7ef96244f136dde856761b6343b14e7f63e Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Thu, 15 Feb 2024 20:51:30 -0700 Subject: [PATCH 3/5] Switch to bleeding rolling tags and debug bond version Signed-off-by: Ryan Friedman --- .github/workflows/colcon.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/colcon.yaml b/.github/workflows/colcon.yaml index b7e6003ed..2551a4fb7 100644 --- a/.github/workflows/colcon.yaml +++ b/.github/workflows/colcon.yaml @@ -15,7 +15,7 @@ jobs: fail-fast: false matrix: config: - - {rosdistro: 'rolling', container: 'osrf/ros:rolling-desktop'} + - {rosdistro: 'rolling', container: 'ros:rolling'} container: ${{ matrix.config.container }} steps: - uses: actions/checkout@v4 @@ -33,6 +33,7 @@ jobs: rosdep update source /opt/ros/${{matrix.config.rosdistro}}/setup.bash rosdep install --from-paths src --ignore-src -y --skip-keys "slam_toolbox turtlebot3_gazebo gazebo_ros_pkgs" + apt show ros-rolling-bond-core shell: bash - name: Colcon Build (Release) run: | @@ -45,4 +46,4 @@ jobs: source install/setup.bash colcon test --return-code-on-test-failure --paths src/grid_map/* --event-handlers=console_cohesion+ colcon test-result --all --verbose - shell: bash \ No newline at end of file + shell: bash From 9fbac1603aabd1ae616443968d56350058b2c7c5 Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Thu, 15 Feb 2024 21:32:40 -0700 Subject: [PATCH 4/5] Remove industrial CI and debug Signed-off-by: Ryan Friedman --- .github/workflows/colcon.yaml | 2 +- .github/workflows/industrial_ci.yaml | 15 --------------- 2 files changed, 1 insertion(+), 16 deletions(-) delete mode 100644 .github/workflows/industrial_ci.yaml diff --git a/.github/workflows/colcon.yaml b/.github/workflows/colcon.yaml index 2551a4fb7..ea0e2b89f 100644 --- a/.github/workflows/colcon.yaml +++ b/.github/workflows/colcon.yaml @@ -33,7 +33,6 @@ jobs: rosdep update source /opt/ros/${{matrix.config.rosdistro}}/setup.bash rosdep install --from-paths src --ignore-src -y --skip-keys "slam_toolbox turtlebot3_gazebo gazebo_ros_pkgs" - apt show ros-rolling-bond-core shell: bash - name: Colcon Build (Release) run: | @@ -47,3 +46,4 @@ jobs: colcon test --return-code-on-test-failure --paths src/grid_map/* --event-handlers=console_cohesion+ colcon test-result --all --verbose shell: bash + diff --git a/.github/workflows/industrial_ci.yaml b/.github/workflows/industrial_ci.yaml deleted file mode 100644 index 2de39f303..000000000 --- a/.github/workflows/industrial_ci.yaml +++ /dev/null @@ -1,15 +0,0 @@ -name: Instustrial CI Colcon Build Test - -on: [push, pull_request] - -jobs: - industrial_ci: - strategy: - matrix: - env: - - {ROS_DISTRO: rolling, ROS_REPO: rolling} - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - uses: 'ros-industrial/industrial_ci@master' - env: ${{matrix.env}} From ab02f523566996faf97b14da5b4a6685243d4e70 Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Thu, 15 Feb 2024 21:42:06 -0700 Subject: [PATCH 5/5] Remove CircleCI * Current maintainers don't have access to fix CircleCI Signed-off-by: Ryan Friedman --- .circleci/config.yml | 46 -------------------------------------------- 1 file changed, 46 deletions(-) delete mode 100644 .circleci/config.yml diff --git a/.circleci/config.yml b/.circleci/config.yml deleted file mode 100644 index 5b097c83d..000000000 --- a/.circleci/config.yml +++ /dev/null @@ -1,46 +0,0 @@ -version: 2 - -jobs: - build_and_test: - docker: - - image: ros:rolling - environment: - ROS_WS: "/opt/ros" - UNDERLAY_WS: "/opt/underlay_ws" - OVERLAY_WS: "/opt/overlay_ws" - steps: - - checkout - - run: - name: Set Up Container - command: | - apt update -qq && apt install -y build-essential cmake python3-colcon-common-extensions python3-rosdep libeigen3-dev liboctomap-dev - apt upgrade -y - source `find $ROS_WS -maxdepth 2 -name local_setup.bash | sort | head -1` - rosdep update - mkdir -p $OVERLAY_WS/src/grid_map && mv `find -maxdepth 1 -not -name . -not -name src` $OVERLAY_WS/src/grid_map/ - mkdir -p $UNDERLAY_WS/src && cp $OVERLAY_WS/src/grid_map/tools/ros2_dependencies.repos \ - $UNDERLAY_WS/ros2_dependencies.repos - cd $UNDERLAY_WS && vcs import src < ros2_dependencies.repos - DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src \ - --skip-keys "gazebo_ros_pkgs pybind11_vendor ompl slam_toolbox" --from-paths src - MAKEFLAGS="-j4 -l1" colcon build --symlink-install --executor sequential --packages-up-to nav2_costmap_2d - source $UNDERLAY_WS/install/setup.bash - cd $OVERLAY_WS && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --skip-keys "octomap_server" - - run: - name: Debug Build - command: | - source $UNDERLAY_WS/install/setup.bash - cd $OVERLAY_WS && MAKEFLAGS="-j4 -l1" colcon build --executor sequential - no_output_timeout: 30m - - run: - name: Run Tests - command: | - source $UNDERLAY_WS/install/setup.bash - cd $OVERLAY_WS - colcon test --parallel-workers 1 - colcon test-result --verbose -workflows: - version: 2 - ros_build: - jobs: - - build_and_test