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now the 24.04 docker build is working #208

now the 24.04 docker build is working

now the 24.04 docker build is working #208

Workflow file for this run

name: Ubuntu 22.04 build with debian ros packages along with source packages
on:
push:
workflow_dispatch:
concurrency:
group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: true
jobs:
ubuntu2204:
strategy:
fail-fast: false
matrix:
build_type: [install, devel]
build_all: [minimal, full]
runs-on: ubuntu-22.04
# env:
steps:
- name: git clone ros_from_src
uses: actions/checkout@v3
with:
path: other/src/ros_from_src
- name: os version
run: |
lsb_release -a
- name: apt update
run: |
sudo add-apt-repository universe
sudo apt-get update
- name: apt upgrade
run: |
echo "skip"
# sudo apt-get upgrade
- name: needrestart
run: |
sudo needrestart -v
# sudo needrestart -r a
# sudo systemctl restart packagekit
# sudo systemctl restart php8.1-fpm
# sudo systemctl restart ssh
- name: apt library installs 1
run: |
sudo apt-get install -o Debug::pkgProblemResolver=true -yqq libunwind-dev
dpkg -l | grep libunwind
sudo apt-get install -o Debug::pkgProblemResolver=true -yqq libceres-dev
sudo apt-get install -yqq devscripts dh-make
- name: apt library installs 2
run: |
sudo apt-get install -yqq libgeographic-dev
sudo apt-get install -yqq libgmock-dev libgoogle-glog-dev
sudo apt-get install -yqq liborocos-bfl-dev
sudo apt-get install -yqq libprotobuf-dev libprotoc-dev
- name: apt library installs 3
run: |
sudo apt-get install -yqq libspnav-dev liburdfdom-dev
sudo apt-get install -yqq libyaml-cpp-dev
sudo apt-get install -yqq cython3
sudo apt-get install -yqq freeglut3-dev
sudo apt-get install -yqq libapriltag-dev
sudo apt-get install -yqq libcgal-dev
sudo apt-get install -yqq libfmt-dev
sudo apt-get install -yqq libgsl-dev
sudo apt-get install -yqq libhdf5-dev
sudo apt-get install -yqq libturbojpeg0-dev
sudo apt-get install -yqq libzmq3-dev
sudo apt-get install -yqq ocl-icd-opencl-dev opencl-headers
sudo apt-get install -yqq libopenvdb-dev
- name: apt sdl installs
run: |
sudo apt-get install -o Debug::pkgProblemResolver=true -yqq libsdl2-* libsdl-image1.2-dev python3-sdl2
sudo apt-get install -yqq frei0r-plugins-dev libfrei0r-ocaml-dev
- name: apt video installs
run: |
sudo apt-get install -yqq libgst-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
sudo apt-get install -yqq libuvc-dev libv4l-dev
- name: apt qt installs
run: |
sudo apt-get install -yqq libqt5svg5-dev libqt5websockets5-dev libqt5x11extras5-dev libqwt-qt5-dev
sudo apt-get install -yqq libqtav-dev
- name: apt tool installs
run: |
sudo apt-get install -yqq git
sudo apt-get install -yqq vim curl jq
sudo apt-get install -yqq python-is-python3 python3-venv
- name: apt ros installs
run: |
sudo apt-get install -yqq ros-*
sudo apt-get install -yqq catkin-lint
sudo apt-get install -yqq libimage-view-dev
sudo apt-get install -yqq libpcl-ros-dev
sudo apt-get install -yqq python3-tf2-geometry-msgs
- name: setup
run: |
mkdir -p other/src
echo "DEST=$HOME/other/install" >> $GITHUB_ENV
# echo "$DEST/bin" >> $GITHUB_PATH
echo PYTHON_MAJOR_VERSION=`python --version | awk '{print $2}' | cut -d'.' -f1` >> $GITHUB_ENV
echo PYTHON_MINOR_VERSION=`python --version | awk '{print $2}' | cut -d'.' -f2` >> $GITHUB_ENV
- name: setup 2
run: |
echo "PATH=$PATH:$DEST/bin" >> $GITHUB_ENV
echo "PYTHONPATH=$DEST/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/site-packages/" >> $GITHUB_ENV
echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEST/lib/cmake" >> $GITHUB_ENV
- name: check setup
run: |
echo $HOME
echo $GITHUB_PATH
echo $PATH
echo $PYTHONPATH
- name: git clone vcstool
uses: actions/checkout@v3
with:
repository: dirk-thomas/vcstool
path: other/src/vcstool
- name: vcs
run: |
cd other/src
cd vcstool
python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
vcs --help
- name: git clone pycommon
uses: actions/checkout@v3
with:
repository: osrf/osrf_pycommon
path: other/src/osrf_pycommon
- name: pycommon
run: |
cd other/src
cd osrf_pycommon
python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
- name: git clone catkin tools
uses: actions/checkout@v3
with:
repository: lucasw/catkin_tools
path: other/src/catkin_tools
ref: sanitize_cmake_prefix_path
- name: catkin tools
run: |
cd other/src
cd catkin_tools
python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
which catkin
catkin --version
- name: setup base_catkin_ws
run: |
mkdir -p ${{ matrix.build_type }}_base_catkin_ws/src
cd ${{ matrix.build_type }}_base_catkin_ws/src
ln -s ../../other/src/ros_from_src/ubuntu_2204/base_repos.yaml
# need https instead of git@github
sed -i 's/[email protected]:/https:\/\/github.com\//' base_repos.yaml
ls -l
vcs import --shallow < base_repos.yaml
# show which versions were imported
vcs export --exact
# ignore repos that aren't yet building in 22.04
../../other/src/ros_from_src/ubuntu_2204/ignore.sh
# the newer openvdb that doesn't have tbb error that the apt install version has
- name: install build openvdb
if: ${{ matrix.build_all == 'full' }}
run: |
mkdir -p other/build/openvdb
cd other/build/openvdb
cmake ../../../${{ matrix.build_type }}_base_catkin_ws/src/other/vdb/openvdb/ -DCMAKE_INSTALL_PREFIX=$DEST
make -j3 # it's a slow build
make install
# TODO(lucasw) later have an entirely separately layer for the larger slow building packages
- name: ignore large slow packages
if: ${{ matrix.build_all == 'minimal' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws/src
touch other/PlotJuggler/CATKIN_IGNORE
touch other/plotjuggler_msgs/CATKIN_IGNORE
touch other/plotjuggler-ros-plugins/CATKIN_IGNORE
touch other/jsk_common/CATKIN_IGNORE
touch other/jsk_common_msgs/CATKIN_IGNORE
touch other/jsk_recognition/CATKIN_IGNORE
touch other/jsk_roseus/CATKIN_IGNORE
touch other/jsk_visualization/CATKIN_IGNORE
touch other/fiducials/CATKIN_IGNORE
touch other/fuse/CATKIN_IGNORE
touch other/lvr2/CATKIN_IGNORE
touch other/mesh_tools/CATKIN_IGNORE
touch other/rtabmap/CATKIN_IGNORE
touch other/rtabmap_ros/CATKIN_IGNORE
touch ros/grid_map/CATKIN_IGNORE
touch other/anybotics/CATKIN_IGNORE
touch other/octomap_mapping/CATKIN_IGNORE
touch other/octomap_ros/CATKIN_IGNORE
touch other/vdb/CATKIN_IGNORE
- name: devel setup
if: ${{ matrix.build_type == 'devel' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -Wno-dev -DCMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES=$DEST/include -DCMAKE_LIBRARY_PATH=$DEST/lib
# TODO(lucasw) lvr2 not building in devel, but could build it
# outside of catkin entirely and install to DEST
touch src/other/lvr2/CATKIN_IGNORE
touch src/other/mesh_tools/CATKIN_IGNORE
- name: install setup
if: ${{ matrix.build_type == 'install' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -Wno-dev -DCMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES=$DEST/include -DCMAKE_LIBRARY_PATH=$DEST/lib
# individual packages or sets of packages built separately
# this first one sources last because nothing has been built yet
- name: build qt_gui_core
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
catkin build --no-status qt_gui_core
source ${{ matrix.build_type }}/setup.bash
- name: build vdb mapping
if: ${{ matrix.build_all == 'full' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status vdb_mapping* --verbose
- name: build fiducials
if: ${{ matrix.build_all == 'full' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status fiducials
- name: build grid_map
if: ${{ matrix.build_all == 'full' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status grid_map*
- name: build rtabmap_ros
if: ${{ matrix.build_all == 'full' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status rtabmap_ros
- name: build joint_trajectory_controller
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status joint_trajectory_controller
- name: test joint_trajectory_controller
# TODO(lucasw) this test is slow, maybe don't do it at all
if: ${{ (matrix.build_type == 'devel' && matrix.build_all == 'full') }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build joint_trajectory_controller --no-status --no-deps --catkin-make-args tests
rostest joint_trajectory_controller joint_trajectory_controller.test
# catkin test --no-status joint_trajectory_controller
- name: test install joint_trajectory_controller
if: ${{ (matrix.build_type == 'devel' && matrix.build_all == 'full') }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin test --no-status joint_trajectory_controller
- name: build plotjuggler
if: ${{ matrix.build_all == 'full' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
# Does building plotjuggler before plotjuggler_ros mess up in install?
# catkin build --no-status plotjuggler
catkin build --no-status plotjuggler_ros
source ${{ matrix.build_type }}/setup.bash
- name: build rviz
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status rviz
source ${{ matrix.build_type }}/setup.bash
- name: build rviz_map_plugin
if: ${{ matrix.build_all == 'full' && matrix.build_type == 'install' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status rviz_map_plugin
- name: build jsk
if: ${{ matrix.build_all == 'full' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status jsk*
- name: build fuse
if: ${{ matrix.build_all == 'full' }}
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status fuse_models fuse_optimizers
- name: build rest of ${{ matrix.build_type }}_base_catkin_ws
run: |
cd ${{ matrix.build_type }}_base_catkin_ws
source ${{ matrix.build_type }}/setup.bash
catkin build --no-status
- name: tar up install_catkin_ws
if: ${{ matrix.build_type == 'install' }}
run: |
tar cvzf install_catkin_ws_2204.tgz install_base_catkin_ws/install
tar cvzf install_dest_2204.tgz $DEST
ls -l
- name: upload install_catkin_ws_2204.tgz
if: ${{ matrix.build_type == 'install' }}
uses: actions/upload-artifact@v4
with:
name: install_dest_2204_${{ matrix.build_all }}
path: install_dest_2204.tgz
- name: upload install_catkin_ws_2204.tgz
if: ${{ matrix.build_type == 'install' }}
uses: actions/upload-artifact@v4
with:
name: install_catkin_ws_2204__${{ matrix.build_all }}
path: install_catkin_ws_2204.tgz
- name: make a deb from the entirety of install_catkin_ws/install
if: ${{ matrix.build_type == 'install' }}
run: |
cd other/src/ros_from_src/debian
ln -s ../../../../install_base_catkin_ws/install
dpkg-buildpackage -A -uc
- name: upload .deb
if: ${{ matrix.build_type == 'install' }}
uses: actions/upload-artifact@v4
with:
name: install_catkin_ws_2204_${{ matrix.build_all }}.deb
# TODO(lucasw) extract name from debian files, VERSION?
path: other/src/ros_from_src/rosone_0.0.6-1_all.deb