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Version 2.0.0 constitutes a major refactor of the Modulo project. It now provides stand-alone classes and helpers for handling and translating messages and parameters in modulo_core, with new and improved component classes for dynamic application composition in modulo_components. The old concepts of Cell and Component have been fully redeveloped into modulo_components::Component and modulo_components::LifecycleComponent, which provide a simple framework for creating stateless (unmanaged) or state-based (managed) custom components. For more information, see the new description of each package in the respective README.md files and view the full generated documentation on [epfl-lasa.github.io/modulo](epfl-lasa.github.io/modulo).
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| # https://docs.github.com/en/actions/creating-actions/dockerfile-support-for-github-actions | ||
| FROM ghcr.io/aica-technology/ros2-control-libraries:galactic-devel | ||
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| # Copy and set the entrypoint commands to execute when the container starts, | ||
| # explicilty invoking as ros2 user and with bash interpreter. | ||
| COPY entrypoint.sh /entrypoint.sh | ||
| ENTRYPOINT ["sudo", "su", "-", "ros2", "-c", "/bin/bash", "-c", "/entrypoint.sh"] |
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| name: 'Build and Test (Galactic)' | ||
| description: 'Build the source packages and run all unit tests' | ||
| runs: | ||
| using: 'docker' | ||
| image: 'Dockerfile' |
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| #!/bin/bash | ||
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| STEP=1 | ||
| build_and_test() { | ||
| PACKAGE=$1 | ||
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| echo ">>> ${STEP}: Building ${PACKAGE}..." | ||
| cp -r /github/workspace/source/"${PACKAGE}" ./src/"${PACKAGE}" | ||
| if ! colcon build --packages-select "${PACKAGE}"; then | ||
| echo ">>> [ERROR] Build stage ${STEP} failed!" | ||
| exit "${STEP}" | ||
| fi | ||
| echo ">>> Build stage ${STEP} completed successfully!" | ||
| STEP=$((STEP+1)) | ||
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| echo ">>> ${STEP}: Testing ${PACKAGE}..." | ||
| if ! colcon test --packages-select "${PACKAGE}" --return-code-on-test-failure; then | ||
| colcon test-result --verbose | ||
| echo ">>> [ERROR] Test stage ${STEP} failed!" | ||
| exit "${STEP}" | ||
| fi | ||
| echo ">>> Test stage ${STEP} completed successfully!" | ||
| STEP=$((STEP+1)) | ||
| } | ||
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| source /opt/ros/"${ROS_DISTRO}"/setup.bash | ||
| cd /home/ros2/ros2_ws | ||
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| build_and_test modulo_component_interfaces | ||
| build_and_test modulo_core | ||
| build_and_test modulo_components | ||
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| echo ">>> All build and test stages completed successfully!" | ||
| exit 0 |
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| push: | ||
| branches: | ||
| - main | ||
| - develop | ||
| release: | ||
| types: [published] | ||
| workflow_dispatch: | ||
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| name: Build and Test | ||
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| # Run workflow on pushes to main and develop branches, on any pull request, or by manual dispatch | ||
| on: | ||
| push: | ||
| branches: | ||
| - main | ||
| - develop | ||
| pull_request: | ||
| workflow_dispatch: | ||
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| # Define the build test jobs | ||
| jobs: | ||
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| check-contribution: | ||
| name: Check if changelog and version have been updated | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - name: Checkout | ||
| uses: actions/checkout@v2 | ||
| - name: Check contributions | ||
| if: ${{ github.event.pull_request.base.sha }} | ||
| run: | | ||
| git fetch origin main ${{ github.event.pull_request.base.sha }} | ||
| VER_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./VERSION) | ||
| if ! [ "${VER_DIFF}" ]; then | ||
| echo "::warning title=Contribution check failed::VERSION must be updated!" | ||
| exit 1 | ||
| fi | ||
| CL_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./CHANGELOG.md) | ||
| if ! [ "${CL_DIFF}" ]; then | ||
| echo "::warning title=Contribution check failed::CHANGELOG.md must be updated!" | ||
| exit 1 | ||
| fi | ||
| shell: bash | ||
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| # check if jobs can be skipped | ||
| check-skippable-changes: | ||
| name: Check skippable changes | ||
| runs-on: ubuntu-latest | ||
| outputs: | ||
| skip: ${{ steps.check_if_skippable.outputs.should_skip }} | ||
| steps: | ||
| - id: check_if_skippable | ||
| uses: fkirc/skip-duplicate-actions@master | ||
| with: | ||
| cancel_others: 'true' | ||
| do_not_skip: '["workflow_dispatch"]' | ||
| paths_ignore: '["**.md"]' | ||
| skip_after_successful_duplicate: 'true' | ||
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| build-test-galactic: | ||
| needs: check-skippable-changes | ||
| if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }} | ||
| runs-on: ubuntu-latest | ||
| name: Galactic build and test | ||
| steps: | ||
| # First check out the repository | ||
| - name: Checkout | ||
| uses: actions/checkout@v2 | ||
| # Load the repository build-test action | ||
| - name: Build and Test | ||
| uses: ./.github/actions/build-test-galactic |
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| name: Generate and Deploy Documentation | ||
| on: | ||
| push: | ||
| branches: | ||
| - main | ||
| - develop | ||
| release: | ||
| types: [published] | ||
| workflow_dispatch: | ||
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| jobs: | ||
| deploy: | ||
| name: Generate and Deploy | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - uses: actions/checkout@master | ||
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| - name: Generate docs | ||
| uses: mattnotmitt/doxygen-action@v1 | ||
| with: | ||
| working-directory: 'doxygen' | ||
| doxyfile-path: 'doxygen.conf' | ||
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| - name: Tag release version | ||
| if: ${{ github.event_name == 'release' }} | ||
| shell: bash | ||
| run: | | ||
| TAG="${GITHUB_REF#refs/tags/}" | ||
| TAG="${TAG/\//-}" | ||
| mkdir -p doxygen/docs/versions | ||
| sudo mv doxygen/docs/html doxygen/docs/versions/${TAG} | ||
| - name: Tag branch version | ||
| if: ${{ github.event_name == 'push' || github.event_name == 'workflow_dispatch' }} | ||
| shell: bash | ||
| run: | | ||
| BRANCH="${GITHUB_REF#refs/heads/}" | ||
| BRANCH="${BRANCH/\//-}" | ||
| mkdir -p doxygen/docs/versions | ||
| sudo mv doxygen/docs/html doxygen/docs/versions/${BRANCH} | ||
| - name: Deploy to documentation branch | ||
| uses: peaceiris/actions-gh-pages@v3 | ||
| with: | ||
| github_token: ${{ secrets.GITHUB_TOKEN }} | ||
| publish_branch: docs | ||
| publish_dir: ./doxygen/docs | ||
| keep_files: true |
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| .idea | ||
| cmake-build-* | ||
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| doxygen/docs/html | ||
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| ARG ROS_VERSION=galactic | ||
| FROM ghcr.io/aica-technology/ros2-control-libraries:${ROS_VERSION} as development | ||
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| ARG BASE_TAG=galactic | ||
| FROM ghcr.io/aica-technology/ros2-control-libraries:${BASE_TAG} as dependencies | ||
| WORKDIR ${HOME}/ros2_ws | ||
| # copy sources and build ROS workspace with user permissions | ||
| WORKDIR ${HOME}/ros2_ws/ | ||
| COPY --chown=${USER} ./source/ ./src/ | ||
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| # clean image | ||
| RUN sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/* | ||
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| FROM development as production | ||
| FROM dependencies as modulo-component-interfaces | ||
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| # build modulo | ||
| COPY --chown=${USER} ./source/modulo_component_interfaces ./src/modulo_component_interfaces | ||
| RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash; colcon build" | ||
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| FROM modulo-component-interfaces as modulo-core | ||
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| COPY --chown=${USER} ./source/modulo_core ./src/modulo_core | ||
| RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --packages-select modulo_core" | ||
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| FROM modulo-core as modulo-components | ||
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| COPY --chown=${USER} ./source/modulo_components ./src/modulo_components | ||
| RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash; colcon build --packages-select modulo_components" | ||
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| # clean image | ||
| RUN sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/* |
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