ros-ci.yml

# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)

name: CI - Linux via ROS

# This determines when this workflow is run
on: [push, pull_request] # on all pushes and PRs

jobs:
  CI:
    strategy:
      matrix:
        env:
          - {ROS_DISTRO: rolling, BUILDER: colcon}
    env:
      CCACHE_DIR: /github/home/.ccache             # Enable ccache
      # The following is a work-around for ROS tooling in conjunction with jrl-cmakemodules:
      #  - catkin_make_isolated has issues with Industrial-CI right now
      #  - colcon cannot find example-robot-data's python bindings due to ROS1 workspace integration hooks
      #  - catkin_tools correctly finds example-robot-data in the upstream_ws, but does not execute the 'run_tests' target
      #    as catkin-tools performs tests as '--catkin-make-args' instead of '--make-args' as colcon and catkin_make_isolated
      # The work-around is thus to use catkin_tools for building and sourcing, and to manually specify execution of the test
      # target after completion of the regular test target. The output of this step does affect the output of the CI process.
      # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws.
      BUILDER: catkin_tools
      AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/master_board_sdk && make test'
      IMMEDIATE_TEST_OUTPUT: 1
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
      # This step will fetch/store the directory used by ccache before/after the ci run
      - uses: actions/cache@v4
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
      # Run industrial_ci
      - uses: 'ros-industrial/industrial_ci@43e4dcf78396a66876cca2485c4499d962ab920d'
        env: ${{ matrix.env }}