ci-humble.yaml

name: ign_ros2_control CI - Humble

on:
  workflow_dispatch:
  pull_request:
    branches: [ humble ]
  push:
    branches: [ humble ]
  schedule:
    # Run every morning to detect flakiness and broken dependencies
    - cron: '33 5 * * *'

jobs:
  build:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        include:
          - version: fortress
            ros-repo-packages: ""
          - version: fortress
            ros-repo-packages: "-testing"
    env:
      IGNITION_VERSION: ${{ matrix.version }}
      ROS_REPO_PACKAGES: ${{ matrix.ros-repo-packages }}
    container:
      image: ubuntu:22.04
    steps:
    - name: Checkout code
      if: github.event_name != 'schedule'
      uses: actions/checkout@v4
    - name: Checkout code for scheduled workflow
      if: github.event_name == 'schedule'
      uses: actions/checkout@v4
      with:
        ref: humble
    - name: Setup colcon workspace
      id: configure
      run: |
        export DEBIAN_FRONTEND=noninteractive
        apt update -qq
        apt install -qq -y lsb-release wget curl gnupg2
        cd ..
        mkdir -p /home/ros2_ws/src
        cp -r gz_ros2_control /home/ros2_ws/src/
        sh -c 'echo "deb http://packages.ros.org/ros2$ROS_REPO_PACKAGES/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list'
        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
        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
        cd /home/ros2_ws/src/
        rosdep init
        rosdep update
        rosdep install --from-paths ./ -i -y --rosdistro humble --ignore-src
    - name: Build project
      id: build
      run: |
        cd /home/ros2_ws/
        . /opt/ros/humble/local_setup.sh
        colcon build --packages-up-to ign_ros2_control_demos gz_ros2_control_tests
    - name: Run tests
      id: test
      run: |
        cd /home/ros2_ws/
        . /opt/ros/humble/local_setup.sh
        colcon test --event-handlers console_direct+ --packages-select ign_ros2_control ign_ros2_control_demos gz_ros2_control_tests
        colcon test-result