add build script issued in ros docker containers.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

.github/workflows/build.yml

@@ -13,6 +13,10 @@ on:
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
 
+ # each job goes for each ros supported distribution.
+ # each job description absorb the distribution dependency as much as possible,
+ # so that build verification script can be agnostic from distribution dependency.
+
  rolling-build:
  runs-on: ubuntu-latest
  container:
@@ -25,7 +29,7 @@ jobs:
  - name: Build with ROS rolling
  shell: bash
  run: |
- echo $ROS_DISTRO
+ ./scripts/build-verification.sh
 
  iron-build:
  runs-on: ubuntu-latest
@@ -39,7 +43,7 @@ jobs:
  - name: Build with ROS iron
  shell: bash
  run: |
- echo $ROS_DISTRO
+ ./scripts/build-verification.sh
 
  humble-build:
  runs-on: ubuntu-latest
@@ -53,4 +57,4 @@ jobs:
  - name: Build with ROS humble
  shell: bash
  run: |
- echo $ROS_DISTRO
+ ./scripts/build-verification.sh

scripts/build-verification.sh

@@ -0,0 +1,73 @@
+#!/bin/bash
+
+#####################################################################
+# ROS 2 Persistent Parameter Server
+#
+# This script builds parameter server within ros docker images.
+#
+# To avoid updating and modifying the files under `.github/workflows`,
+# this scripts should be adjusted building process accordingly.
+# And `.github/workflows` just calls this script in the workflow pipeline.
+# This allows us to maintain the workflow process easier for contributers.
+#
+#####################################################################
+
+########################
+# Function Definitions #
+########################
+
+function mark {
+ export $1=`pwd`;
+}
+
+function exit_trap() {
+ if [ $? != 0 ]; then
+ echo "Command [$BASH_COMMAND] is failed"
+ exit 1
+ fi
+}
+
+function install_prerequisites () {
+ trap exit_trap ERR
+ echo "[${FUNCNAME[0]}]: update and install dependent packages."
+ apt update && apt upgrade -y
+ apt install -y ros-${ROS_DISTRO}-desktop ros-${ROS_DISTRO}-rmw-cyclonedds-cpp --no-install-recommends
+ cd $there
+}
+
+function setup_build_colcon_env () {
+ trap exit_trap ERR
+ echo "[${FUNCNAME[0]}]: set up colcon build environement."
+ mkdir -p ${COLCON_WORKSPACE}/src
+ cd ${COLCON_WORKSPACE}
+ cp -rf $there ${COLCON_WORKSPACE}/src
+}
+
+function build_parameter_server () {
+ trap exit_trap ERR
+ echo "[${FUNCNAME[0]}]: build ROS 2 parameter server."
+ source /opt/ros/${ROS_DISTRO}/setup.bash
+ cd ${COLCON_WORKSPACE}
+ # TODO: test project should be integrated with `colcon test`.
+ colcon build --symlink-install --packages-select parameter_server ros2_persistent_parameter_server_test
+}
+
+########
+# Main #
+########
+
+export DEBIAN_FRONTEND=noninteractive
+export COLCON_WORKSPACE=/tmp/colcon_ws
+
+# mark the working space root directory, so that we can come back anytime with `cd $there`
+mark there
+
+# set the trap on error
+trap exit_trap ERR
+
+# call install functions in sequence
+install_prerequisites
+setup_build_colcon_env
+build_parameter_server
+
+exit 0