ci-iron.yaml

name: gz_ros2_control CI - Iron

on:
  workflow_dispatch:
  pull_request:
    branches: [ iron ]
  push:
    branches: [ iron ]
  schedule:
    # Run every morning to detect flakiness and broken dependencies
    - cron: '33 4 * * *'

jobs:
  build:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        include:
          - docker-image: "ubuntu:22.04"
            gz-version: "fortress"
            ros-distro: "iron"
            ros-repo-packages: ""
          - docker-image: "ubuntu:22.04"
            gz-version: "garden"
            ros-distro: "iron"
            ros-repo-packages: ""
          - docker-image: "ubuntu:22.04"
            gz-version: "fortress"
            ros-distro: "iron"
            ros-repo-packages: "-testing"
          - docker-image: "ubuntu:22.04"
            gz-version: "garden"
            ros-distro: "iron"
            ros-repo-packages: "-testing"

    env:
      DOCKER_IMAGE: ${{ matrix.docker-image }}
      GZ_VERSION: ${{ matrix.gz-version }}
      ROS_DISTRO: ${{ matrix.ros-distro }}
      ROS_REPO_PACKAGES: ${{ matrix.ros-repo-packages }}
    container:
      image: ${{ matrix.docker-image }}
    steps:
    - name: Checkout code
      if: github.event_name != 'schedule'
      uses: actions/checkout@v4
    - name: Checkout code for scheduled workflow
      if: github.event_name == 'schedule'
      uses: actions/checkout@v4
      with:
        ref: iron
    - name: Setup colcon workspace
      id: configure
      shell: bash
      run: |
        export DEBIAN_FRONTEND=noninteractive
        apt update -qq
        apt install -qq -y lsb-release wget curl gnupg2 git
        cd ..
        mkdir -p /home/ros2_ws/src
        if [ "$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=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2$ROS_REPO_PACKAGES/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