Create a simple workflow example

.github/workflows/docker.yaml

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+name: Build a Docker Image First
+on:
+  push:
+    # Will trigger on MERGES (or pushes) to main branch.
+    branches:
+    - 'main'
+  pull_request:
+    # Will ALSO trigger any time a PR is opened merging to main.
+    # Specify '*' here to merge on PRs being opened against ANY branch.
+    branches:
+    - 'main'
+
+# This creates environment variables that can be shared between all the jobs.
+env:
+  # This will use docker.io for Dockerhub if empty, so we want to tell it to
+  # use the github one (ghcr.io which stands for... GitHub Container Registry)
+  REGISTRY: ghcr.io
+  # Name the docker image after the repo: github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  # First we'll build the docker image in a separate job. Then we actually
+  # build the code in a separate job.
+  docker:
+    runs-on: ubuntu-latest
+    # Note that here we DON'T have a container because github refuses to allow
+    # us to do docker-in-docker. So docker build runs natively on the machine.
+    # The outputs tags gives us an output variabel that can be used in other
+    # jobs. In this case, it's the name of the docker file.
+    outputs:
+      docker_image_name: ${{ steps.meta.outputs.tags }}
+    steps:
+    - name: Check out repository
+      # We still need to do this to actually build the docker file.
+      uses: actions/checkout@v3
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+      # Github pre-populates all of these for you! So you don't have to do
+      # anything fancy. Just make sure the env.REGISTRY is set to ghcr.io
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+      # This just figures out what to tag our docker file as. It's less
+      # complicated than it looks, and you have a lot of flexibility in
+      # how you build tags here.
+      id: meta
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+    - name: Build and push docker
+      uses: docker/build-push-action@v4
+      with:
+        context: toy_example_package/docker/
+        file: toy_example_package/docker/Dockerfile
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max
+
+  # The name of the job is "build". All jobs run in SEPARATE containers, so
+  # they may run on separate machines and have the workspace wiped inbetween.
+  build:
+    # You need to specify the dependency on the previous job (docker) here!
+    needs: docker
+    # Run on a github-hosted runner. To specify our own, select:
+    # [self-hosted, linux] instead.
+    runs-on: ubuntu-latest
+    # This will now use the container we build above! The "needs" specifies that
+    # this must be populated and finished by the other job before we can run.
+    container: ${{ needs.docker.outputs.docker_image_name }}
+    steps:
+    # Name is optional, uses: specify which ACTION is used (basically github
+    # macros). You can write your own! Use with: to specify extra parameters.
+    - name: Check out repository
+      uses: actions/checkout@v3
+      with:
+        # This path is relative to ${GITHUB_WORKSPACE}. You can also use
+        # "/${HOME}/" if you want but be sure to have the leading slash.
+        path: catkin_ws/src/toy_example_package
+    - name: Setup workspace & install ROS dependencies
+      # We can skip the other setup steps now because it's all in the docker.
+      run: |
+        cd ${GITHUB_WORKSPACE}/catkin_ws
+        catkin init
+        catkin config --extend "/opt/ros/noetic"
+        catkin config --merge-devel
+        rosdep update
+        rosdep install --from-paths src --ignore-src -y --rosdistro noetic
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+      shell: bash
+    - name: Catkin build
+      # The working directory is reset for each individual run command, so just
+      # be aware!
+      run: |
+        cd ${GITHUB_WORKSPACE}/catkin_ws
+        catkin build --continue toy_example_package
+      shell: bash

.github/workflows/simple.yaml

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+name: Simple Build
+on:
+  push:
+    # Will trigger on MERGES (or pushes) to main branch.
+    branches:
+    - 'main'
+  pull_request:
+    # Will ALSO trigger any time a PR is opened merging to main.
+    # Specify '*' here to merge on PRs being opened against ANY branch.
+    branches:
+    - 'main'
+
+jobs:
+  # The name of the job is "build". All jobs run in SEPARATE containers, so
+  # they may run on separate machines and have the workspace wiped inbetween.
+  build:
+    # Run on a github-hosted runner. To specify our own, select:
+    # [self-hosted, linux] instead.
+    runs-on: ubuntu-latest
+    # This is the docker container that the image will run in. This is 20.04
+    # with ros-noetic-desktop meta-package.
+    container: osrf/ros:noetic-desktop
+    steps:
+    # Name is optional, uses: specify which ACTION is used (basically github
+    # macros). You can write your own! Use with: to specify extra parameters.
+    - name: Check out repository
+      uses: actions/checkout@v3
+      with:
+        # This path is relative to ${GITHUB_WORKSPACE}. You can also use
+        # "/${HOME}/" if you want but be sure to have the leading slash.
+        path: catkin_ws/src/toy_example_package
+    - name: Install catkin-tools on Noetic
+      # This, well, makes sure you have catkin tools installed.
+      run: |
+        apt update && apt install -y python3-pip
+        pip3 install osrf-pycommon
+        apt update && apt install -y python3-wstool python3-catkin-tools
+      shell: bash
+    - name: Install dependencies
+      # Replace this with your actual deps. But cowsay is fun.
+      run: |
+        apt update && apt install -y fortune cowsay
+      shell: bash
+    - name: Setup workspace & install ROS dependencies
+      run: |
+        cd ${GITHUB_WORKSPACE}/catkin_ws
+        catkin init
+        catkin config --extend "/opt/ros/noetic"
+        catkin config --merge-devel
+        rosdep update
+        rosdep install --from-paths src --ignore-src -y --rosdistro noetic
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+      shell: bash
+    - name: Catkin build
+      # The working directory is reset for each individual run command, so just
+      # be aware!
+      run: |
+        cd ${GITHUB_WORKSPACE}/catkin_ws
+        catkin build --continue toy_example_package
+      shell: bash
+    - name: Get a fortune from a cow
+      # Replace this with a testing script or anything else you need to do.
+      run: /usr/games/fortune | /usr/games/cowsay
+      shell: bash
+

README.md

@@ -1,2 +1,16 @@
 # asl-actions
-Github Actions for ASL
+Github Actions and documentation for ASL.
+
+## Getting Started
+First, you can start with the quick-start docs from GitHub: https://docs.github.com/en/actions/quickstart
+
+Then you can follow along with a few simple tutorial workflows.
+
+So far we have a simple example, which just checks out a Github repo containing one or more ROS packages and builds it within a default OSRF environment:
+
+[Simple Example](https://github.com/ethz-asl/asl-actions/blob/main/.github/workflows/simple.yaml)
+
+There is also an example of using the Github Container Registry to first build a custom docker image, push it to the container registry, and then use it in the following step to build the code itself:
+
+[Docker Example](https://github.com/ethz-asl/asl-actions/blob/main/.github/workflows/docker.yaml)
+

actions/delete-workspace/Dockerfile

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+FROM ubuntu:22.04
+
+# Copies your code file from your action repository to the filesystem path `/` of the container
+COPY entrypoint.sh /entrypoint.sh
+
+# Code file to execute when the docker container starts up (`entrypoint.sh`)
+ENTRYPOINT ["/entrypoint.sh"]

actions/delete-workspace/action.yml

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+# action.yml
+name: 'Clean Up State'
+description: 'Clean up the workspace state before and/or after running.'
+
+runs:
+  using: 'docker'
+  image: 'Dockerfile'
+

actions/delete-workspace/entrypoint.sh

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+#!/bin/bash
+
+# Nuke it!
+rm -rf ~/*

toy_example_package/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(toy_example_package)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
+catkin_package(
+  CATKIN_DEPENDS std_msgs roscpp
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_executable(publisher_node src/publisher.cpp)
+add_dependencies(publisher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(publisher_node
+  ${catkin_LIBRARIES}
+)
+
+

toy_example_package/docker/Dockerfile

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+FROM osrf/ros:noetic-desktop
+
+# Install catkin tools.
+RUN apt-get -qq update && \
+  apt-get install -y python3-catkin-tools python3-vcstool python3-pip \
+  python-is-python3 && \
+  rm -rf /var/lib/apt/lists/*
+

toy_example_package/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>toy_example_package</name>
+  <version>0.0.0</version>
+  <description>Toy example package for Github Actions workflows.</description>
+
+  <maintainer email="[email protected]">Helen Oleynikova</maintainer>
+
+  <license>BSD</license>
+
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <export>
+  </export>
+</package>

toy_example_package/src/publisher.cpp

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+#include <ros/ros.h>
+#include <std_msgs/String.h>
+
+#include <sstream>
+
+// All this code is from the publisher tutorial:
+// https://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
+int main(int argc, char **argv) {
+  ros::init(argc, argv, "toy_example_publisher");
+
+  ros::NodeHandle nh, nh_private("~");
+
+  ros::Publisher pub = nh_private.advertise<std_msgs::String>("hello", 1);
+
+  ros::Rate loop_rate(10);  // Hz
+
+  int count = 0;
+  while (ros::ok()) {
+    std_msgs::String msg;
+
+    std::stringstream ss;
+    ss << "hello world " << count;
+    msg.data = ss.str();
+
+    ROS_INFO("%s", msg.data.c_str());
+
+    pub.publish(msg);
+
+    ros::spinOnce();
+
+    loop_rate.sleep();
+    ++count;
+  }
+
+  return 0;
+}