test.yml

name: SROS2 CI
on:
  pull_request:
  push:
    branches:
      rolling
  schedule:
    # Run daily
    - cron:  '0 20 * * *'

jobs:
  test_latest:
    runs-on: ubuntu-latest
    # 'osrf/ros2:devel' does *not* include RTI Connext or its' security plugins
    # the former gets installed via rosdep in 'action-ros-ci' but the latter do *not* get installed
    container: osrf/ros2:devel
    steps:
    - name: Install prerequisites for action-ros-ci and FastRTPS
      run: |
        apt-get -qq update
        apt-get -qq upgrade -y
        apt-get -qq install -y curl libasio-dev libssl-dev libtinyxml2-dev python3-colcon-coveragepy-result
    - uses: ros-tooling/action-ros-ci@v0.3
      with:
        rosdep-skip-keys: rti-connext-dds-6.0.1
        package-name: |
          sros2
          sros2_cmake
          test_security
        extra-cmake-args: '-DSECURITY=ON --no-warn-unused-cli'
        colcon-defaults: |
          {
            "build": {
              "mixin": ["coverage-pytest"]
            },
            "test": {
              "mixin": ["coverage-pytest"]
            }
          }
        colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
        target-ros2-distro: rolling
        vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos

    - name: Upload coverage to Codecov
      uses: codecov/codecov-action@v4
      env:
        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
      if: github.event_name == 'pull_request' || (github.event_name == 'push' && github.ref == 'refs/heads/rolling')
      with:
        file: ros_ws/build/sros2/coverage.xml
        flags: unittests
        name: sros2-coverage
        fail_ci_if_error: true
        codecov_yml_path: codecov.yml
    - name: Upload Logs
      uses: actions/upload-artifact@v4
      if: failure()
      with:
        name: colcon-logs
        path: ros_ws/log
  test_nightly:
    runs-on: ubuntu-latest
    # 'osrf/ros2:nightly-rmw-nonfree' includes RTI Connext but
    # does *not* include the security plugins or a license allowing the use of Security
    container: osrf/ros2:nightly-rmw-nonfree
    steps:
    - uses: actions/checkout@v4
    - name: Installing dependencies
      run: |
        apt-get -qq update
        apt-get -qq upgrade -y
        . /opt/ros/$ROS_DISTRO/setup.sh
        rosdep update
        DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO
    - name: Build workspace
      run: . /opt/ros/$ROS_DISTRO/setup.sh && colcon build
    - name: Test workspace
      run: . /opt/ros/$ROS_DISTRO/setup.sh && colcon test --executor sequential --event-handlers console_direct+
    - name: Check test results
      run: colcon test-result
    - name: Upload Logs
      uses: actions/upload-artifact@v4
      if: failure()
      with:
        name: colcon-logs
        path: ros_ws/log