rosrust_noetic.yml

name: rosrust_noetic

on:
  push:
    branches-ignore:
      - rclrs
  pull_request:
    branches-ignore:
      - rclrs
  workflow_dispatch:

jobs:
  build:
    runs-on: ubuntu-20.04
    env:
      ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...]
      # CI_SOURCE_PATH: $(pwd)
      ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
      CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
      ROS_PARALLEL_JOBS: "-j8 -l6"
      # Set the python path manually to include /usr/-/python2.7/dist-packages
      # as this is where apt-get installs python packages.
      PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
      ROS_DISTRO: noetic
    steps:
      - name: rosrust
        uses: actions/checkout@v1
      - name: Install latest rust
        run: |
          curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
          rustc --version
          cargo --version
      - name: Configure ROS for install
        run: |
          sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
          sudo apt-get update -qq
          sudo apt-get install dpkg
          sudo apt-get install -y libyaml-cpp-dev
      - name: Install ROS basic packages
        run: |
          sudo apt-get install -y python3-catkin-pkg
          sudo apt-get install -y python3-catkin-tools
          sudo apt-get install -y python3-rosdep
          sudo apt-get install -y python3-wstool
          sudo apt-get install -y python3-osrf-pycommon
          sudo apt-get install -y ros-cmake-modules
          sudo apt-get install -y ros-$ROS_DISTRO-ros-base
          source /opt/ros/$ROS_DISTRO/setup.bash
          sudo rosdep init
          rosdep update  # --include-eol-distros  # Support EOL distros.
      - name: Install ROS additional packages
        # Does installing these mean rosrust_msg builds more messages, which is a better
        # check?  Or does it just slow down the action?
        run: |
          sudo apt-get install -y ros-$ROS_DISTRO-actionlib
          sudo apt-get install -y ros-$ROS_DISTRO-actionlib-msgs
          sudo apt-get install -y ros-$ROS_DISTRO-camera-info-manager
          sudo apt-get install -y ros-$ROS_DISTRO-compressed-image-transport
          sudo apt-get install -y ros-$ROS_DISTRO-catkin
          sudo apt-get install -y ros-$ROS_DISTRO-class-loader
          sudo apt-get install -y ros-$ROS_DISTRO-cmake-modules
          sudo apt-get install -y ros-$ROS_DISTRO-cv-bridge
          sudo apt-get install -y ros-$ROS_DISTRO-dynamic-reconfigure
          sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure
          # Not in noetic yet
          # sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure-python
          sudo apt-get install -y ros-$ROS_DISTRO-eigen-conversions
          sudo apt-get install -y ros-$ROS_DISTRO-geometry-msgs
          sudo apt-get install -y ros-$ROS_DISTRO-genmsg
          sudo apt-get install -y ros-$ROS_DISTRO-image-geometry
          sudo apt-get install -y ros-$ROS_DISTRO-image-proc
          sudo apt-get install -y ros-$ROS_DISTRO-image-transport
          sudo apt-get install -y ros-$ROS_DISTRO-message-generation
          sudo apt-get install -y ros-$ROS_DISTRO-message-runtime
          # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core
          # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-topic-tools
          # sudo apt-get install -y ros-$ROS_DISTRO-pcl-conversions
          # sudo apt-get install -y ros-$ROS_DISTRO-pcl-ros
          sudo apt-get install -y ros-$ROS_DISTRO-pluginlib
          sudo apt-get install -y ros-$ROS_DISTRO-roscpp
          sudo apt-get install -y ros-$ROS_DISTRO-roslib
          sudo apt-get install -y ros-$ROS_DISTRO-roslint
          sudo apt-get install -y ros-$ROS_DISTRO-rospy
          sudo apt-get install -y ros-$ROS_DISTRO-rospy-message-converter
          sudo apt-get install -y ros-$ROS_DISTRO-rostest
          sudo apt-get install -y ros-$ROS_DISTRO-sensor-msgs
          sudo apt-get install -y ros-$ROS_DISTRO-std-msgs
          sudo apt-get install -y ros-$ROS_DISTRO-tf
          sudo apt-get install -y ros-$ROS_DISTRO-tf-conversions
          sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs
          sudo apt-get install -y ros-$ROS_DISTRO-tf2-msgs
          sudo apt-get install -y ros-$ROS_DISTRO-tf2-py
          sudo apt-get install -y ros-$ROS_DISTRO-tf2-ros
          sudo apt-get install -y ros-$ROS_DISTRO-tf2-sensor-msgs
      - name: build
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          cargo build  # --verbose
      - name: Install ROS packages for tests
        run: |
          sudo apt-get install -y ros-$ROS_DISTRO-actionlib-tutorials
          sudo apt-get install -y ros-$ROS_DISTRO-roscpp-tutorials
          sudo apt-get install -y ros-$ROS_DISTRO-rospy-tutorials
      - name: test
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          cargo test --features rosrust_msg,derive,nalgebra,rayon