Add CI that builds with colcon.

.github/workflows/rust_and_ros2.yml

@@ -13,27 +13,39 @@ jobs:
   docs_no_ros:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - run: docker build . --file ./tests/Dockerfile_no_ros --tag r2r_no_ros
     - run: docker run r2r_no_ros cargo build --features doc-only
 
+  minimal_workspace_humble:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - name: Checkout tools repo
+      uses: actions/checkout@v4
+      with:
+        repository: m-dahl/r2r_minimal_node
+        path: r2r_minimal_node
+    - run: docker build . --file ./tests/Dockerfile_humble --tag r2r_humble
+    - run: docker run r2r_humble /r2r/tests/build_minimal_node.bash
+
   tests_humble:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - run: docker build . --file ./tests/Dockerfile_humble --tag r2r_humble
     - run: docker run r2r_humble cargo test
 
   tests_galactic:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - run: docker build . --file ./tests/Dockerfile_galactic --tag r2r_galactic
     - run: docker run r2r_galactic cargo test
 
   tests_foxy:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - run: docker build . --file ./tests/Dockerfile_foxy --tag r2r_foxy
     - run: docker run r2r_foxy cargo test

r2r_cargo.cmake

@@ -87,7 +87,7 @@ function(r2r_cargo)
   if(CARGO_CLEAN)
         add_custom_target(cargo_target ALL
               COMMAND ${CMAKE_COMMAND} "-E" "env" "cargo" "clean" "--profile" "colcon"
-              COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS_PACKAGES}" "cargo" "build" "--profile" "colcon"
+              COMMAND ${CMAKE_COMMAND} "-E" "env" "RUSTFLAGS=$ENV{RUSTFLAGS}" "CMAKE_IDL_PACKAGES=$ENV{CMAKE_IDL_PACKAGES}" "CMAKE_INCLUDE_DIRS=$ENV{CMAKE_INCLUDE_DIRS}" "cargo" "build" "--profile" "colcon"
               WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
               )
   else()

tests/Dockerfile_foxy

@@ -1,6 +1,9 @@
 # syntax=docker/dockerfile:1
 FROM ros:foxy
 
+# Update ROS expired key
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+
 # Update default packages
 RUN apt-get update
 

tests/Dockerfile_galactic

@@ -1,6 +1,9 @@
 # syntax=docker/dockerfile:1
 FROM ros:galactic
 
+# Update ROS expired key
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+
 # Update default packages
 RUN apt-get update
 

tests/build_minimal_node.bash

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+# Use the local version of r2r when building the minimal node.
+cat >> /r2r/r2r_minimal_node/r2r_minimal_node/Cargo.toml << EOF
+
+[patch.crates-io]
+r2r = { path = "../../r2r" }
+
+[workspace]
+
+EOF
+
+# Overwrite r2r_cargo to make sure the version in the r2r repo is ok.
+cp /r2r/r2r_cargo.cmake /r2r/r2r_minimal_node/r2r_minimal_node/
+
+# Build using colcon.
+cd /r2r/r2r_minimal_node
+colcon build