Add support for ros_launch() rules (#298) #1177
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| name: drake-ros continuous integration | |
| on: | |
| push: | |
| branches: | |
| - main | |
| - develop | |
| pull_request: | |
| branches: | |
| - main | |
| - develop | |
| jobs: | |
| test_against_debs: | |
| if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')" | |
| strategy: | |
| matrix: | |
| include: | |
| # TODO : Include rolling later if available on jammy or noble. | |
| - os_code_name: jammy | |
| ros_distro: humble | |
| name: test_against_${{matrix.ros_distro}}_debs | |
| runs-on: ubuntu-latest | |
| container: | |
| image: robotlocomotion/drake:${{matrix.os_code_name}} | |
| env: | |
| PYTHONPATH: | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Simplify apt upgrades | |
| run: $GITHUB_WORKSPACE/.github/simplify_apt_and_upgrades.sh | |
| - uses: ros-tooling/[email protected] | |
| with: | |
| required-ros-distributions: ${{matrix.ros_distro}} | |
| use-ros2-testing: "true" | |
| - name: Cope with Python 2 pollution | |
| run: apt-get update && apt-get install -y python-is-python3 | |
| - name: Build and test all packages | |
| uses: ros-tooling/[email protected] | |
| with: | |
| target-ros2-distro: ${{matrix.ros_distro}} | |
| test_against_archive: | |
| if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')" | |
| strategy: | |
| matrix: | |
| include: | |
| # TODO : Include rolling later if available on jammy or noble. | |
| - os_code_name: jammy | |
| ros_distro: humble | |
| name: test_against_${{matrix.ros_distro}}_archive | |
| runs-on: ubuntu-latest | |
| container: | |
| image: robotlocomotion/drake:${{matrix.os_code_name}} | |
| env: | |
| PYTHONPATH: | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Simplify apt upgrades | |
| run: $GITHUB_WORKSPACE/.github/simplify_apt_and_upgrades.sh | |
| - uses: ros-tooling/[email protected] | |
| - name: Install dependencies to build ROS packages | |
| run: | | |
| sudo mkdir -p /opt/ros/${{matrix.ros_distro}} | |
| wget -q https://repo.ros2.org/ci_archives/nightly-cyclonedds/ros2-${{matrix.ros_distro}}-linux-${{matrix.os_code_name}}-amd64-ci-CHECKSUM | |
| wget -q http://repo.ros2.org/ci_archives/nightly-cyclonedds/ros2-${{matrix.ros_distro}}-linux-${{matrix.os_code_name}}-amd64-ci.tar.bz2 | |
| sha256sum -c ros2-${{matrix.ros_distro}}-linux-${{matrix.os_code_name}}-amd64-ci-CHECKSUM | |
| sudo tar xf ros2-${{matrix.ros_distro}}-linux-${{matrix.os_code_name}}-amd64-ci.tar.bz2 --strip-components=1 -C /opt/ros/${{matrix.ros_distro}} | |
| sed -i 's|/tmp/ws/install_isolated|/opt/ros/${{matrix.ros_distro}}|g' /opt/ros/${{matrix.ros_distro}}/setup.sh | |
| rm ros2-${{matrix.ros_distro}}-linux-${{matrix.os_code_name}}-amd64-ci.tar.bz2 | |
| # TODO(sloretz) Use bazel_ros2_rules/ros2/compute_system_rosdeps.py to de-duplicate rosdep invocation knowledge | |
| SHARE_DIRS=`find /opt/ros/${{matrix.ros_distro}} -maxdepth 2 -name share -type d` | |
| # TODO(sloretz) remove --skip-keys for rosbag2_performance_benchmarking_msgs when https://github.com/ros2/rosbag2/pull/1242 lands | |
| rosdep update && rosdep install --from-paths $SHARE_DIRS . --ignore-src -y \ | |
| -t exec -t buildtool_export -t build_export \ | |
| --skip-keys "cyclonedds fastcdr fastrtps rmw_connextdds rmw_cyclonedds_cpp rmw_fastrtps_dynamic_cpp rti-connext-dds-5.3.1 urdfdom_headers iceoryx_binding_c rosidl_typesupport_fastrtps_c rosidl_typesupport_fastrtps_cpp rosbag2_performance_benchmarking_msgs" | |
| - name: Cope with Python 2 pollution | |
| run: apt-get update && apt-get install -y python-is-python3 | |
| - name: Build all packages | |
| run: | | |
| . /opt/ros/${{matrix.ros_distro}}/setup.sh | |
| colcon build --event-handlers console_cohesion+ | |
| - name: Test all packages | |
| run: | | |
| . /opt/ros/${{matrix.ros_distro}}/setup.sh | |
| colcon test --event-handlers console_cohesion+ |