Support Harmonic #429
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Gazebo-Sim ros2 control CI | |
| on: | |
| pull_request: | |
| push: | |
| branches: [ master ] | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| include: | |
| - docker-image: "ubuntu:22.04" | |
| gz-version: "fortress" | |
| ros-distro: "iron" | |
| - docker-image: "ubuntu:22.04" | |
| gz-version: "fortress" | |
| ros-distro: "rolling" | |
| - docker-image: "ubuntu:22.04" | |
| gz-version: "garden" | |
| ros-distro: "iron" | |
| - docker-image: "ubuntu:22.04" | |
| gz-version: "garden" | |
| ros-distro: "rolling" | |
| env: | |
| DOCKER_IMAGE: ${{ matrix.docker-image }} | |
| GZ_VERSION: ${{ matrix.gz-version }} | |
| ROS_DISTRO: ${{ matrix.ros-distro }} | |
| container: | |
| image: ${{ matrix.docker-image }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup colcon workspace | |
| id: configure | |
| shell: bash | |
| run: | | |
| export DEBIAN_FRONTEND=noninteractive | |
| apt update -qq | |
| apt install -qq -y lsb-release wget curl gnupg2 git | |
| cd .. | |
| mkdir -p /home/ros2_ws/src | |
| if [ "$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/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 |