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Merge pull request #14 from fujitatomoya/20230902-github-workflow-sup…
…port add github workflows to build test.
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# This is workflow to build parameter server in ros docker images | ||
name: build | ||
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on: | ||
push: | ||
branches: [ "master" ] | ||
pull_request: | ||
branches: [ "master" ] | ||
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# Allows you to run this workflow manually from the Actions tab | ||
workflow_dispatch: | ||
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# A workflow run is made up of one or more jobs that can run sequentially or in parallel | ||
jobs: | ||
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# 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. | ||
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rolling-build: | ||
runs-on: ubuntu-latest | ||
container: | ||
image: ros:rolling | ||
env: | ||
ROS_DISTRO: rolling | ||
steps: | ||
- name: Check out repository code | ||
uses: actions/checkout@v3 | ||
- name: Build with ROS rolling | ||
shell: bash | ||
run: | | ||
./scripts/build-verification.sh | ||
iron-build: | ||
runs-on: ubuntu-latest | ||
container: | ||
image: ros:iron | ||
env: | ||
ROS_DISTRO: iron | ||
steps: | ||
- name: Check out repository code | ||
uses: actions/checkout@v3 | ||
- name: Build with ROS iron | ||
shell: bash | ||
run: | | ||
./scripts/build-verification.sh | ||
humble-build: | ||
runs-on: ubuntu-latest | ||
container: | ||
image: ros:humble | ||
env: | ||
ROS_DISTRO: humble | ||
steps: | ||
- name: Check out repository code | ||
uses: actions/checkout@v3 | ||
- name: Build with ROS humble | ||
shell: bash | ||
run: | | ||
./scripts/build-verification.sh |
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#!/bin/bash | ||
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##################################################################### | ||
# 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. | ||
# | ||
##################################################################### | ||
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######################## | ||
# Function Definitions # | ||
######################## | ||
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function mark { | ||
export $1=`pwd`; | ||
} | ||
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function exit_trap() { | ||
if [ $? != 0 ]; then | ||
echo "Command [$BASH_COMMAND] is failed" | ||
exit 1 | ||
fi | ||
} | ||
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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 $there | ||
} | ||
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function setup_build_colcon_env () { | ||
trap exit_trap ERR | ||
echo "[${FUNCNAME[0]}]: set up colcon build environement." | ||
mkdir -p ${COLCON_WORKSPACE}/src | ||
cd ${COLCON_WORKSPACE} | ||
cp -rf $there ${COLCON_WORKSPACE}/src | ||
} | ||
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function build_parameter_server () { | ||
trap exit_trap ERR | ||
echo "[${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 | ||
} | ||
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######## | ||
# Main # | ||
######## | ||
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export DEBIAN_FRONTEND=noninteractive | ||
export COLCON_WORKSPACE=/tmp/colcon_ws | ||
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# mark the working space root directory, so that we can come back anytime with `cd $there` | ||
mark there | ||
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# set the trap on error | ||
trap exit_trap ERR | ||
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# call install functions in sequence | ||
install_prerequisites | ||
setup_build_colcon_env | ||
build_parameter_server | ||
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exit 0 |