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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,108 @@ | ||
| name: gz_ros2_control CI - Iron | ||
|
|
||
| on: | ||
| workflow_dispatch: | ||
| pull_request: | ||
| branches: [ iron ] | ||
| push: | ||
| branches: [ iron ] | ||
| schedule: | ||
| # Run every morning to detect flakiness and broken dependencies | ||
| - cron: '33 4 * * *' | ||
|
|
||
| jobs: | ||
| build: | ||
| runs-on: ubuntu-latest | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| include: | ||
| - docker-image: "ubuntu:22.04" | ||
| gz-version: "fortress" | ||
| ros-distro: "iron" | ||
| ros-repo-packages: "" | ||
| - docker-image: "ubuntu:22.04" | ||
| gz-version: "garden" | ||
| ros-distro: "iron" | ||
| ros-repo-packages: "" | ||
| - docker-image: "ubuntu:22.04" | ||
| gz-version: "fortress" | ||
| ros-distro: "iron" | ||
| ros-repo-packages: "-testing" | ||
| - docker-image: "ubuntu:22.04" | ||
| gz-version: "garden" | ||
| ros-distro: "iron" | ||
| ros-repo-packages: "-testing" | ||
|
|
||
| env: | ||
| DOCKER_IMAGE: ${{ matrix.docker-image }} | ||
| GZ_VERSION: ${{ matrix.gz-version }} | ||
| ROS_DISTRO: ${{ matrix.ros-distro }} | ||
| ROS_REPO_PACKAGES: ${{ matrix.ros-repo-packages }} | ||
| container: | ||
| image: ${{ matrix.docker-image }} | ||
| steps: | ||
| - name: Checkout code | ||
| if: github.event_name != 'schedule' | ||
| uses: actions/checkout@v4 | ||
| - name: Checkout code for scheduled workflow | ||
| if: github.event_name == 'schedule' | ||
| uses: actions/checkout@v4 | ||
| with: | ||
| ref: iron | ||
| - name: Setup colcon workspace | ||
| id: configure | ||
| shell: bash | ||
| run: | | ||
| export DEBIAN_FRONTEND=noninteractive | ||
| apt update -qq | ||
| apt install -qq -y lsb-release wget curl gnupg2 git | ||
| cd .. | ||
| mkdir -p /home/ros2_ws/src | ||
| if [ "$ROS_DISTRO" == "rolling" ]; then | ||
| git clone https://github.com/gazebosim/ros_gz/ | ||
| fi | ||
| cp -r gz_ros2_control /home/ros2_ws/src/ | ||
| curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | ||
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2$ROS_REPO_PACKAGES/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null | ||
| wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | ||
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | ||
| if [ "$GZ_VERSION" == "garden" ]; then | ||
| export GZ_DEPS="libgz-sim7-dev libgz-plugin2-dev gz-sim7-cli" | ||
| fi | ||
| apt-get update && apt-get upgrade -q -y | ||
| apt-get update && apt-get install -qq -y \ | ||
| dirmngr \ | ||
| python3-colcon-ros \ | ||
| python3-colcon-common-extensions \ | ||
| python3-rosdep \ | ||
| build-essential \ | ||
| ${GZ_DEPS} | ||
| if [ "$GZ_VERSION" == "garden" ]; then | ||
| export ROSDEP_ARGS="--skip-keys ros_gz_sim --skip-keys gz-plugin2 --skip-keys gz-sim7 --skip-keys gz-transport12 --skip-keys gz-math7 --skip-keys gz-msgs9" | ||
| fi | ||
| cd /home/ros2_ws/src/ | ||
| if [ "$ROS_DISTRO" == "rolling" ]; then | ||
| git clone https://github.com/gazebosim/ros_gz/ | ||
| fi | ||
| if [ "$ROS_DISTRO" == "iron" ]; then | ||
| git clone https://github.com/gazebosim/ros_gz/ -b iron | ||
| fi | ||
| rosdep init | ||
| rosdep update | ||
| rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src ${ROSDEP_ARGS} | ||
| - name: Build project | ||
| id: build | ||
| run: | | ||
| cd /home/ros2_ws/ | ||
| . /opt/ros/${ROS_DISTRO}/local_setup.sh | ||
| colcon build --packages-up-to gz_ros2_control_demos gz_ros2_control_tests | ||
| - name: Run tests | ||
| id: test | ||
| run: | | ||
| cd /home/ros2_ws/ | ||
| . /opt/ros/${ROS_DISTRO}/local_setup.sh | ||
| colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests | ||
| colcon test-result |
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