config.yml

on:
  push:
    branches:
      - master
  pull_request:

env:
  DISPLAY: ':0.0'

jobs:
  ros:
    runs-on: ubuntu-latest
    continue-on-error: false
    strategy:
      fail-fast: false
      matrix:
        include:
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04-pcl
            NOT_TEST_INSTALL: true
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04-pcl
            BEFORE_SCRIPT: "ls -al; ls -al jsk_demos/; TEST_ROBOT=pr2 ./jsk_demos/.travis.before_script.sh"
            TEST_PKGS : "detect_cans_in_fridge_201202 elevator_move_base_pr2 interactive_behavior_201409 jsk_2011_07_pr2_semantic jsk_2013_04_pr2_610 jsk_demo_common jsk_maps"
            NOT_TEST_INSTALL: true
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04-pcl
            BEFORE_SCRIPT: "TEST_ROBOT=fetch ./jsk_demos/.travis.before_script.sh"
            TEST_PKGS: "jsk_2017_10_semi jsk_maps"
            NOT_TEST_INSTALL: true
          - ROS_DISTRO: kinetic
            CONTAINER: jskrobotics/ros-ubuntu:16.04-pcl
          - ROS_DISTRO: melodic
            CONTAINER: jskrobotics/ros-ubuntu:18.04-pcl
          - ROS_DISTRO: melodic
            CONTAINER: jskrobotics/ros-ubuntu:18.04-pcl
            BEFORE_SCRIPT: "TEST_ROBOT=fetch ./jsk_demos/.travis.before_script.sh"
          - ROS_DISTRO: noetic
            CONTAINER: jskrobotics/ros-ubuntu:20.04-pcl
            EXTRA_DEB : "python3-rospkg python3-rospkg-modules"  #  drc_task_common need rospkg, but not installed
            USE_DEB : false

    container: ${{ matrix.CONTAINER }}
    steps:
      - name: Install latest git ( use sudo for ros-ubuntu )
        run: |
          # https://github.com/osrf/docker_images/issues/697#issuecomment-1819626877
          sudo apt-key del 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA || echo "OK"
          sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA || echo "OK"
          sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys AD19BAB3CBF125EA || echo "OK"
          [ -e /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ] && sudo rm /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ## fix Err https://esm.ubuntu.com trusty-infra-security/main amd64 Packages, gnutls_handshake() failed: Handshake failed
          (apt-get update && apt-get install -y sudo) || echo "OK"
          sudo apt-get update
          sudo apt-get install -y software-properties-common
          sudo apt-get update
          sudo -E add-apt-repository -y ppa:git-core/ppa
          sudo apt-get update
          sudo apt-get install -y git

      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
        run: |
          set -x
          export USER=$(whoami)
          sudo chown -R $USER $GITHUB_WORKSPACE
          git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
          sudo mkdir -p /__w/
          sudo chmod 777 -R /__w/
          sudo chown -R $USER $HOME
          # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
          # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
          # ls -al /home/runner/work/_temp/_github_workflow/

      - name: Chcekout
        uses: actions/checkout@v3.0.2

      - name: Start X server
        run: |
          if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi
          echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
          sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget
          export DISPLAY=:0
          wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/dummy.xorg.conf -O /tmp/dummy.xorg.conf
          sudo Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile /tmp/xorg.log -config /tmp/dummy.xorg.conf $DISPLAY &
          sleep 3 # wait x server up
          export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
          xhost +local:root
        shell: bash

      - name: Run jsk_travis
        uses: jsk-ros-pkg/jsk_travis@master
        with:
          ROS_PARALLEL_JOBS : "-j8"
          CATKIN_PARALLEL_JOBS : "-p8"
          ROS_PARALLEL_TEST_JOBS : "-j8"
          CATKIN_PARALLEL_TEST_JOBS : "-p8"
          BEFORE_SCRIPT : "mkdir -p ros-${{ matrix.ROS_DISTRO }}-julius/DEBIAN; /bin/echo -e 'Package: ros-${{ matrix.ROS_DISTRO }}-julius\nVersion: 100.0.0\nArchitecture: all\nMaintainer: todo@todo.todo\nDescription: To speedup install process\n' > ros-${{ matrix.ROS_DISTRO }}-julius/DEBIAN/control; dpkg-deb --build ros-${{ matrix.ROS_DISTRO }}-julius; sudo dpkg -i ./ros-${{ matrix.ROS_DISTRO }}-julius.deb; ${{ matrix.BEFORE_SCRIPT }}"
          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
          USE_DEB :  ${{ matrix.USE_DEB }}
          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
          TEST_PKGS : ${{ matrix.TEST_PKGS }}
          EXTRA_DEB : ${{ matrix.EXTRA_DEB }}