Merge pull request #558 from IMRCLab/odom-tf-fix #664
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| name: ROS2 (Ubuntu) | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| # Based on example provided at https://github.com/ros-tooling/setup-ros | |
| jobs: | |
| build_docker: # On Linux, use docker | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| ros_distribution: | |
| - humble | |
| - iron | |
| - jazzy | |
| # Define the Docker image(s) associated with each ROS distribution. | |
| include: | |
| # Humble Hawksbill (May 2022 - May 2027) | |
| - docker_image: ubuntu:jammy | |
| ros_distribution: humble | |
| ros_version: 2 | |
| # Iron Irwini (May 2023 - Nov 2024) | |
| - docker_image: ubuntu:jammy | |
| ros_distribution: iron | |
| ros_version: 2 | |
| # Jazzy Jalisco (May 2024 - May 2029) | |
| - docker_image: ubuntu:noble | |
| ros_distribution: jazzy | |
| ros_version: 2 | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - name: setup ROS environment | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distribution }} | |
| - name: install dependencies | |
| run: | | |
| sudo apt update | |
| sudo apt install -y libboost-program-options-dev libusb-1.0-0-dev | |
| - name: install pip dependencies | |
| # TODO: would be better to follow https://answers.ros.org/question/370666/how-to-declare-an-external-python-dependency-in-ros2/ | |
| # but this requires some upstream changes | |
| # colcon still does not seem to properly support venv, so we use a workaround to install | |
| # a python package globally by disabling the externally managed flag that is default on Ubuntu 24.04 | |
| run: | | |
| sudo rm -f /usr/lib/python3.12/EXTERNALLY-MANAGED | |
| pip install rowan | |
| - uses: actions/checkout@v2 | |
| - name: build and test ROS 2 | |
| uses: ros-tooling/action-ros-ci@v0.3 | |
| with: | |
| package-name: | | |
| crazyflie | |
| crazyflie_examples | |
| crazyflie_interfaces | |
| crazyflie_py | |
| crazyflie_sim | |
| target-ros2-distro: ${{ matrix.ros_distribution }} | |
| vcs-repo-file-url: rosinstall |