Merge pull request #1 from ika-rwth-aachen/readme

Preparation of GitHub Release | Python Templates | Samples | Local/Remote Flag
ika-rwth-aachen · Nov 7, 2024 · c8f3be7 · c8f3be7
2 parents 43036e0 + dc87b99
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diff --git a/.github/workflows/check-samples.yml b/.github/workflows/check-samples.yml
@@ -0,0 +1,132 @@
+name: Check samples
+
+# avoiding duplicate jobs on push with open pull_request: https://github.com/orgs/community/discussions/26940#discussioncomment-6656489
+on: [push, pull_request]
+
+jobs:
+
+  check:
+    if: (github.event_name != 'pull_request' && ! github.event.pull_request.head.repo.fork) || (github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork)
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - package_name: ros2_cpp_pkg
+            template: ros2_cpp_pkg
+            node_name: ros2_cpp_node
+            is_component: false
+            is_lifecycle: false
+            has_launch_file: true
+            has_params: true
+            has_subscriber: true
+            has_publisher: true
+            has_service_server: false
+            has_action_server: false
+            has_timer: false
+            has_docker_ros: true
+          - package_name: ros2_cpp_component_pkg
+            template: ros2_cpp_pkg
+            node_name: ros2_cpp_node
+            is_component: true
+            is_lifecycle: false
+            has_launch_file: true
+            has_params: true
+            has_subscriber: true
+            has_publisher: true
+            has_service_server: false
+            has_action_server: false
+            has_timer: false
+            has_docker_ros: true
+          - package_name: ros2_cpp_lifecycle_pkg
+            template: ros2_cpp_pkg
+            node_name: ros2_cpp_node
+            is_component: false
+            is_lifecycle: true
+            has_launch_file: true
+            has_params: true
+            has_subscriber: true
+            has_publisher: true
+            has_service_server: false
+            has_action_server: false
+            has_timer: false
+            has_docker_ros: true
+          - package_name: ros2_cpp_all_pkg
+            template: ros2_cpp_pkg
+            node_name: ros2_cpp_node
+            is_component: true
+            is_lifecycle: true
+            has_launch_file: true
+            has_params: true
+            has_subscriber: true
+            has_publisher: true
+            has_service_server: true
+            has_action_server: true
+            has_timer: true
+            has_docker_ros: true
+          - package_name: ros2_python_pkg
+            template: ros2_python_pkg
+            node_name: ros2_python_node
+            is_lifecycle: false
+            has_launch_file: true
+            has_params: true
+            has_subscriber: true
+            has_publisher: true
+            has_service_server: false
+            has_action_server: false
+            has_timer: false
+            has_docker_ros: true
+          - package_name: ros2_python_all_pkg
+            template: ros2_python_pkg
+            node_name: ros2_python_node
+            is_lifecycle: false
+            has_launch_file: true
+            has_params: true
+            has_subscriber: true
+            has_publisher: true
+            has_service_server: true
+            has_action_server: true
+            has_timer: true
+            has_docker_ros: true
+          - package_name: ros2_interfaces_pkg
+            template: ros2_interfaces_pkg
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+      - name: Install dependencies
+        run: |
+          pip install "copier~=9.2.0" "jinja2-strcase~=0.0.2"
+      - name: Configure git to run copier
+        run: |
+          git config --global user.name "dummy"
+          git config --global user.email "[email protected]"
+      - name: Generate packages
+        run: |
+          copier copy --trust --defaults \
+            -d template=${{ matrix.template }} \
+            -d package_name=${{ matrix.package_name }} \
+            -d node_name=${{ matrix.node_name }} \
+            -d is_component=${{ matrix.is_component }} \
+            -d is_lifecycle=${{ matrix.is_lifecycle }} \
+            -d has_launch_file=${{ matrix.has_launch_file }} \
+            -d has_params=${{ matrix.has_params }} \
+            -d has_subscriber=${{ matrix.has_subscriber }} \
+            -d has_publisher=${{ matrix.has_publisher }} \
+            -d has_service_server=${{ matrix.has_service_server }} \
+            -d has_action_server=${{ matrix.has_action_server }} \
+            -d has_timer=${{ matrix.has_timer }} \
+            -d has_docker_ros=${{ matrix.has_docker_ros }} \
+            . packages
+      - name: Check for repository changes
+        run: |
+          rm -rf samples/${{ matrix.package_name }}*
+          mv packages/${{ matrix.package_name }}* samples/
+          if [[ ! -z "$(git status --porcelain)" ]]; then
+            echo "Sample generation resulted in changes to the repository"
+            git status
+            git diff
+            exit 1
+          fi
diff --git a/.github/workflows/generate-and-test.yml b/.github/workflows/generate-and-test.yml
@@ -0,0 +1,179 @@
+name: Generate and test packages
+
+# avoiding duplicate jobs on push with open pull_request: https://github.com/orgs/community/discussions/26940#discussioncomment-6656489
+on: [push, pull_request]
+
+jobs:
+
+  generate:
+    if: (github.event_name != 'pull_request' && ! github.event.pull_request.head.repo.fork) || (github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork)
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - package_name: default_cpp_pkg
+            template: ros2_cpp_pkg
+            auto_shutdown: true
+          - package_name: component_cpp_pkg
+            template: ros2_cpp_pkg
+            is_component: true
+            auto_shutdown: true
+          - package_name: lifecycle_cpp_pkg
+            template: ros2_cpp_pkg
+            is_lifecycle: true
+            auto_shutdown: true
+          - package_name: service_cpp_pkg
+            template: ros2_cpp_pkg
+            has_service_server: true
+            auto_shutdown: true
+          - package_name: action_cpp_pkg
+            template: ros2_cpp_pkg
+            has_action_server: true
+            auto_shutdown: true
+          - package_name: timer_cpp_pkg
+            template: ros2_cpp_pkg
+            has_timer: true
+            auto_shutdown: true
+          - package_name: no_params_cpp_pkg
+            template: ros2_cpp_pkg
+            has_params: false
+            auto_shutdown: true
+          - package_name: no_launch_file_cpp_pkg
+            template: ros2_cpp_pkg
+            has_launch_file: false
+            auto_shutdown: true
+          - package_name: all_cpp_pkg
+            template: ros2_cpp_pkg
+            is_component: true
+            is_lifecycle: true
+            has_service_server: true
+            has_action_server: true
+            has_timer: true
+            auto_shutdown: true
+          - package_name: default_python_pkg
+            template: ros2_python_pkg
+            auto_shutdown: true
+          - package_name: service_python_pkg
+            template: ros2_python_pkg
+            has_service_server: true
+            auto_shutdown: true
+          - package_name: action_python_pkg
+            template: ros2_python_pkg
+            has_action_server: true
+            auto_shutdown: true
+          - package_name: timer_python_pkg
+            template: ros2_python_pkg
+            has_timer: true
+            auto_shutdown: true
+          - package_name: no_params_python_pkg
+            template: ros2_python_pkg
+            has_params: false
+            auto_shutdown: true
+          - package_name: no_launch_file_python_pkg
+            template: ros2_python_pkg
+            has_launch_file: false
+            auto_shutdown: true
+          - package_name: all_python_pkg
+            template: ros2_python_pkg
+            is_lifecycle: true
+            has_service_server: true
+            has_action_server: true
+            has_timer: true
+            auto_shutdown: true
+          - package_name: interfaces_pkg
+            template: ros2_interfaces_pkg
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+      - name: Install dependencies
+        run: |
+          pip install "copier~=9.2.0" "jinja2-strcase~=0.0.2"
+      - name: Configure git to run copier
+        run: |
+          git config --global user.name "dummy"
+          git config --global user.email "[email protected]"
+      - name: Generate packages
+        run: |
+          copier copy --trust --defaults \
+            -d template=${{ matrix.template }} \
+            -d auto_shutdown=${{ matrix.auto_shutdown }} \
+            -d package_name=${{ matrix.package_name }} \
+            $( [ "${{ matrix.is_component }}" = "true" ] && echo "-d is_component=true" ) \
+            $( [ "${{ matrix.is_lifecycle }}" = "true" ] && echo "-d is_lifecycle=true" ) \
+            $( [ "${{ matrix.has_service_server }}" = "true" ] && echo "-d has_service_server=true" ) \
+            $( [ "${{ matrix.has_action_server }}" = "true" ] && echo "-d has_action_server=true" ) \
+            $( [ "${{ matrix.has_timer }}" = "true" ] && echo "-d has_timer=true" ) \
+            $( [ "${{ matrix.has_params }}" = "false" ] && echo "-d has_params=false" ) \
+            $( [ "${{ matrix.has_launch_file }}" = "false" ] && echo "-d has_launch_file=false" ) \
+            . packages
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.package_name }}
+          path: "packages/${{ matrix.package_name }}*"
+
+  build:
+    if: (github.event_name != 'pull_request' && ! github.event.pull_request.head.repo.fork) || (github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork)
+    runs-on: ubuntu-latest
+    container:
+      image: rwthika/ros2:jazzy
+    needs: generate
+    strategy:
+      matrix:
+        include:
+          - package: default_cpp_pkg
+            command: ros2 launch default_cpp_pkg default_cpp_pkg_launch.py
+          - package: component_cpp_pkg
+            command: ros2 launch component_cpp_pkg component_cpp_pkg_launch.py
+          - package: lifecycle_cpp_pkg
+            command: ros2 launch lifecycle_cpp_pkg lifecycle_cpp_pkg_launch.py
+          - package: service_cpp_pkg
+            command: ros2 launch service_cpp_pkg service_cpp_pkg_launch.py
+          - package: action_cpp_pkg
+            command: ros2 launch action_cpp_pkg action_cpp_pkg_launch.py
+          - package: timer_cpp_pkg
+            command: ros2 launch timer_cpp_pkg timer_cpp_pkg_launch.py
+          - package: no_params_cpp_pkg
+            command: ros2 launch no_params_cpp_pkg no_params_cpp_pkg_launch.py
+          - package: no_launch_file_cpp_pkg
+            command: ros2 run no_launch_file_cpp_pkg no_launch_file_cpp_pkg --ros-args -p param:=1.0
+          - package: all_cpp_pkg
+            command: ros2 launch all_cpp_pkg all_cpp_pkg_launch.py
+          - package: default_python_pkg
+            command: ros2 launch default_python_pkg default_python_pkg_launch.py
+          - package: service_python_pkg
+            command: ros2 launch service_python_pkg service_python_pkg_launch.py
+          - package: action_python_pkg
+            command: ros2 launch action_python_pkg action_python_pkg_launch.py
+          - package: timer_python_pkg
+            command: ros2 launch timer_python_pkg timer_python_pkg_launch.py
+          - package: no_params_python_pkg
+            command: ros2 launch no_params_python_pkg no_params_python_pkg_launch.py
+          - package: no_launch_file_python_pkg
+            command: ros2 run no_launch_file_python_pkg no_launch_file_python_pkg --ros-args -p param:=1.0
+          - package: all_python_pkg
+            command: ros2 launch all_python_pkg all_python_pkg_launch.py
+          - package: interfaces_pkg
+            command: |
+              ros2 interface show interfaces_pkg/msg/Message && \
+              ros2 interface show interfaces_pkg/srv/Service && \
+              ros2 interface show interfaces_pkg/action/Action
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+      - name: Download artifacts
+        uses: actions/download-artifact@v4
+      - name: Build
+        shell: bash
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          colcon build --packages-up-to ${{ matrix.package }}
+      - name: Run
+        shell: bash
+        run: |
+          source install/setup.bash
+          ${{ matrix.command }}
diff --git a/.github/workflows/publish.yml b/.github/workflows/publish.yml
@@ -0,0 +1,45 @@
+name: Publish to PyPI
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - '*'
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  publish:
+    name: Publish ${{ matrix.package }}
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        package: [ros2-pkg-create]
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+    - name: Set up Python
+      uses: actions/[email protected]
+      with:
+        python-version: "3.x"
+    - name: Install pypa/build
+      run: python3 -m pip install --user build
+    - name: Build wheel and tarball
+      run: python3 -m build --sdist --wheel --outdir dist/ ${{ matrix.package }}
+    - name: Publish to TestPyPI
+      uses: pypa/[email protected]
+      with:
+        password: ${{ secrets.TEST_PYPI_API_TOKEN }}
+        repository-url: https://test.pypi.org/legacy/
+        skip-existing: true
+    - name: Publish to PyPI
+      if: startsWith(github.ref, 'refs/tags')
+      uses: pypa/[email protected]
+      with:
+        password: ${{ secrets.PYPI_API_TOKEN }}
+        skip-existing: true
+    # `continue-on-error` needed cause `skip-existing: true` is not honored
+    # https://github.com/pypa/gh-action-pypi-publish/issues/201
+    continue-on-error: true