Workflow: Rework and build for ROS2 Humble and Jazzy #663
Workflow file for this run
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| # This is a basic workflow to help you get started with Actions | |
| name: CI | |
| # Controls when the action will run. Triggers the workflow on push or pull request | |
| # events but only for the master branch | |
| on: | |
| push: | |
| branches: [ master ] | |
| pull_request: | |
| branches: [ master ] | |
| # A workflow run is made up of one or more jobs that can run sequentially or in parallel | |
| jobs: | |
| build: # On Linux, iterates on all ROS 1 and ROS 2 distributions. | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| ros_distribution: | |
| - noetic | |
| - humble | |
| - jazzy | |
| # Define the Docker image(s) associated with each ROS distribution. | |
| # The include syntax allows additional variables to be defined, like | |
| # docker_image in this case. See documentation: | |
| # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build | |
| # | |
| # Platforms are defined in REP 3 and REP 2000: | |
| # https://ros.org/reps/rep-0003.html | |
| # https://ros.org/reps/rep-2000.html | |
| include: | |
| # Noetic Ninjemys (May 2020 - May 2025) | |
| - docker_image: ghcr.io/catthehacker/ubuntu:act-20.04 | |
| ros_distribution: noetic | |
| ros_version: 1 | |
| # Humble Hawksbill (May 2022 - May 2027) | |
| - docker_image: ghcr.io/catthehacker/ubuntu:act-22.04 | |
| ros_distribution: humble | |
| ros_version: 2 | |
| # Jazzy Jalisco (May 2024 - May 2029) | |
| - docker_image: ubuntu:24.04 | |
| ros_distribution: jazzy | |
| ros_version: 2 | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - name: Update Git | |
| run: | | |
| apt-get update | |
| apt-get install git -y | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: Ubuntu 24.04 specific apt packages | |
| if: ${{ contains(matrix.docker_image,'ubuntu:24.04') }} | |
| run: | | |
| apt-get update | |
| DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt-get -y install tzdata | |
| apt-get install -y sudo python3-pip libboost-all-dev nodejs | |
| sudo pip3 install -U rosdep --break-system-packages | |
| - name: Act dependencies | |
| if: ${{ env.ACT }} | |
| run: | | |
| apt-get install gnupg lsb-release -y | |
| - name: setup ROS environment | |
| uses: ros-tooling/setup-ros@0.7.9 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distribution }} | |
| - name: Apt packages | |
| run: | | |
| apt-get update | |
| apt-get -y install rsync libyaml-cpp-dev libcurl4-openssl-dev lsb-release wget software-properties-common gnupg | |
| - name: Setup AirSim | |
| run: | | |
| ./setup.sh | |
| ./build.sh | |
| working-directory: AirSim | |
| - name: Update rosdep | |
| run: | | |
| rosdep update | |
| - name: build and test ROS 1 | |
| if: ${{ matrix.ros_version == 1 }} | |
| shell: bash | |
| run: | | |
| apt-get install -y python3-catkin-tools | |
| source /opt/ros/${{ matrix.ros_distribution }}/setup.bash | |
| rosdep install --from-paths src --ignore-src -r -y --rosdistro ${{ matrix.ros_distribution }} | |
| catkin init | |
| catkin build --no-status | |
| working-directory: ros | |
| - name: build and test ROS 2 | |
| if: ${{ matrix.ros_version == 2 }} | |
| shell: bash | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distribution }}/setup.bash | |
| rosdep install --from-paths src --ignore-src -r -y --rosdistro ${{ matrix.ros_distribution }} | |
| colcon build | |
| working-directory: ros2 |