diff --git a/.github/workflows/ci-iron.yaml b/.github/workflows/ci-iron.yaml new file mode 100644 index 00000000..81837e0e --- /dev/null +++ b/.github/workflows/ci-iron.yaml @@ -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 diff --git a/README.md b/README.md index 95fbfb71..3e4c7399 100644 --- a/README.md +++ b/README.md @@ -24,7 +24,7 @@ Rolling | Harmonic | [master](https://github.com/ros-controls/gz_ros2_control/tr ROS 2 Distro | Branch | Build status | Documentation :----------: | :----: | :----------: | :-----------: **Rolling** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [![gazebo_ros2_control CI - Rolling](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml) | [Documentation](https://control.ros.org/master/index.html)
[API Reference](https://control.ros.org/master/doc/api/index.html) -**Iron** | [`iron`](https://github.com/ros-controls/gz_ros2_control/tree/iron) | [![gazebo_ros2_control CI - Iron](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml/badge.svg?branch=iron)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml) | [Documentation](https://control.ros.org/iron/index.html)
[API Reference](https://control.ros.org/iron/doc/api/index.html) +**Iron** | [`iron`](https://github.com/ros-controls/gz_ros2_control/tree/iron) | [![gazebo_ros2_control CI - Iron](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml) | [Documentation](https://control.ros.org/iron/index.html)
[API Reference](https://control.ros.org/iron/doc/api/index.html) **Humble** | [`humble`](https://github.com/ros-controls/gz_ros2_control/tree/humble) | [![ign_ros2_control CI - Humble](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-humble.yaml/badge.svg?branch=humble)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-humble.yaml) | [Documentation](https://control.ros.org/humble/index.html)
[API Reference](https://control.ros.org/humble/doc/api/index.html) ## Documentation See the [documentation file](doc/index.rst) or [control.ros.org](https://control.ros.org/master/doc/gz_ros2_control/doc/index.html)