Switch to use the recommended SensorDataQoS settings #250
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| name: Build and Test | |
| on: | |
| push: | |
| branches: | |
| - 'ros2' | |
| pull_request: | |
| branches: | |
| - 'ros2/*' | |
| - 'ros2' | |
| workflow_dispatch: | |
| jobs: | |
| get_ros_distros: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Install dependencies | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get -y install curl jq | |
| - name: Get active distributions | |
| run: | | |
| wget https://raw.githubusercontent.com/flynneva/active_ros_distros/0.1.0/main.py -O active_ros_distros.py | |
| python3 -m pip install rosdistro | |
| python3 active_ros_distros.py --distribution-type ros2 | |
| - name: Generate actions matrix | |
| id: set-matrix | |
| run: | | |
| ACTIVE_ROS_DISTROS=(noetic) | |
| DOCKER_DISTRO_MATRIX=() | |
| RAW_DOCKER_JSON=$(curl -s "https://hub.docker.com/v2/repositories/rostooling/setup-ros-docker/tags?page_size=1000") | |
| while read distro; do | |
| ACTIVE_ROS_DISTROS+=( $distro ) | |
| done < "/tmp/active_ros_distros.txt" | |
| DISTRO_STR="[" | |
| MATRIX_STR="[" | |
| for distro in ${ACTIVE_ROS_DISTROS[@]}; do | |
| docker_image=$(echo $RAW_DOCKER_JSON | | |
| jq -r --arg DISTRO "$distro" '.results[] | select(.tag_status=="active") | select(.name | contains("ros-base-latest")) | select(.name | contains($DISTRO)) | .name' | | |
| sort -u) | |
| # Handle the case if two docker images were declared for one distro | |
| # e.g. rolling moving from one Ubuntu Jammy to Ubuntu Noble | |
| docker_image_arr=($docker_image) | |
| DISTRO_STR+="\"${distro}\", " | |
| MATRIX_STR+="{docker_image:\"${docker_image_arr[-1]}\",ros_distro:\"${distro}\"}, " | |
| done | |
| # Remove trailing , at end | |
| DISTRO_STR=${DISTRO_STR%??} | |
| MATRIX_STR=${MATRIX_STR%??} | |
| # Close up brackets | |
| DISTRO_STR+="]" | |
| MATRIX_STR+="]" | |
| echo "DISTRO_STR: ${DISTRO_STR}" | |
| echo "MATRIX_STR: ${MATRIX_STR}" | |
| echo "series=$DISTRO_STR" >> $GITHUB_OUTPUT | |
| echo "matrix=$MATRIX_STR" >> $GITHUB_OUTPUT | |
| outputs: | |
| series: ${{ steps.set-matrix.outputs.series }} | |
| matrix: ${{ steps.set-matrix.outputs.matrix }} | |
| build_and_test: | |
| runs-on: [ubuntu-latest] | |
| needs: get_ros_distros | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distro: ${{ fromJson(needs.get_ros_distros.outputs.series) }} | |
| include: | |
| ${{ fromJson(needs.get_ros_distros.outputs.matrix) }} | |
| container: | |
| image: rostooling/setup-ros-docker:${{ matrix.docker_image }} | |
| steps: | |
| - name: Setup Directories | |
| run: mkdir -p ros_ws/src | |
| - name: checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| path: ros_ws/src | |
| - name: Build and Test ROS 1 | |
| uses: ros-tooling/action-ros-ci@master | |
| if: ${{ contains('["melodic", "noetic"]', matrix.ros_distro) }} | |
| continue-on-error: true | |
| with: | |
| package-name: usb_cam | |
| target-ros1-distro: ${{ matrix.ros_distro }} | |
| vcs-repo-file-url: "" | |
| - name: Build and Test ROS 2 | |
| id: build_and_test_step | |
| uses: ros-tooling/action-ros-ci@master | |
| if: ${{ contains('["melodic", "noetic"]', matrix.ros_distro) == false }} | |
| with: | |
| package-name: usb_cam | |
| target-ros2-distro: ${{ matrix.ros_distro }} | |
| vcs-repo-file-url: "" | |
| colcon-defaults: | | |
| { | |
| "build": { | |
| "mixin": ["coverage-gcc"] | |
| } | |
| } | |
| # If possible, pin the repository in the workflow to a specific commit to avoid | |
| # changes in colcon-mixin-repository from breaking your tests. | |
| colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/1ddb69bedfd1f04c2f000e95452f7c24a4d6176b/index.yaml | |
| - uses: actions/upload-artifact@v1 | |
| with: | |
| name: colcon-logs-${{ matrix.ros_distro }} | |
| path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/log | |
| if: always() | |
| continue-on-error: true | |
| - uses: actions/upload-artifact@v1 | |
| with: | |
| name: lcov-logs-${{ matrix.ros_distro }} | |
| path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov | |
| if: always() | |
| continue-on-error: true |