add ROS-O test #310
Workflow file for this run
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| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| env: | |
| DISPLAY: ':0.0' | |
| jobs: | |
| ros: | |
| runs-on: ubuntu-latest | |
| # continue-on-error: ${{ matrix.experimental }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - ROS_DISTRO: indigo | |
| CONTAINER: jskrobotics/ros-ubuntu:14.04 | |
| USE_DEB: true | |
| - ROS_DISTRO: indigo | |
| CONTAINER: jskrobotics/ros-ubuntu:14.04 | |
| USE_DEB: false | |
| NOT_TEST_INSTALL : true | |
| INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_planning" | |
| TEST_PKGS : "task_compiler" | |
| - ROS_DISTRO: indigo | |
| CONTAINER: jskrobotics/ros-ubuntu:14.04 | |
| USE_DEB: false | |
| NOT_TEST_INSTALL : true | |
| INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_pr2eus" | |
| TEST_PKGS : "pr2eus pr2eus_moveit" | |
| BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y; sudo apt dist-upgrade -y; mkdir -p ~/.gazebo/; git clone --depth=1 https://github.com/osrf/gazebo_models.git ~/.gazebo/models" | |
| - ROS_DISTRO: indigo | |
| CONTAINER: jskrobotics/ros-ubuntu:14.04 | |
| USE_DEB: false | |
| NOT_TEST_INSTALL : false | |
| BEFORE_SCRIPT: "wget https://raw.githubusercontent.com/tork-a/jskeus-release/master/patches/CMakeLists.txt -O jskeus/CMakeLists.txt" | |
| - ROS_DISTRO: indigo | |
| CONTAINER: jskrobotics/ros-ubuntu:14.04 | |
| USE_DEB: source | |
| NOT_TEST_INSTALL : false | |
| - ROS_DISTRO: kinetic | |
| CONTAINER: ubuntu:16.04 | |
| USE_DEB: true | |
| - ROS_DISTRO: kinetic | |
| CONTAINER: ubuntu:16.04 | |
| USE_DEB: false | |
| NOT_TEST_INSTALL : true | |
| INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_planning" | |
| TEST_PKGS : "task_compiler" | |
| - ROS_DISTRO: kinetic | |
| CONTAINER: ubuntu:16.04 | |
| USE_DEB: false | |
| NOT_TEST_INSTALL : true | |
| INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_pr2eus" | |
| TEST_PKGS : "pr2eus pr2eus_moveit" | |
| BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu xenial main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y" | |
| - ROS_DISTRO: kinetic | |
| CONTAINER: ubuntu:16.04 | |
| USE_DEB: false | |
| NOT_TEST_INSTALL : true | |
| - ROS_DISTRO: kinetic | |
| CONTAINER: ubuntu:16.04 | |
| USE_DEB: source | |
| NOT_TEST_INSTALL : true | |
| - ROS_DISTRO: melodic | |
| CONTAINER: ubuntu:18.04 | |
| USE_DEB: true | |
| - ROS_DISTRO: melodic | |
| CONTAINER: ubuntu:18.04 | |
| USE_DEB: false | |
| NOT_TEST_INSTALL : true | |
| - ROS_DISTRO: melodic | |
| CONTAINER: ubuntu:18.04 | |
| USE_DEB: source | |
| NOT_TEST_INSTALL : true | |
| - ROS_DISTRO: noetic | |
| CONTAINER: ubuntu:20.04 | |
| USE_DEB: true | |
| # - ROS_DISTRO: noetic | |
| # CONTAINER: ubuntu:20.04 | |
| # USE_DEB: false | |
| # NOT_TEST_INSTALL : true | |
| # INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_planning" | |
| # TEST_PKGS : "task_compiler" | |
| # experimental: true | |
| # - ROS_DISTRO: noetic | |
| # CONTAINER: ubuntu:20.04 | |
| # USE_DEB: false | |
| # NOT_TEST_INSTALL : true | |
| # INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_pr2eus" | |
| # TEST_PKGS : "pr2eus pr2eus_moveit" | |
| # experimental: true | |
| - ROS_DISTRO: noetic | |
| CONTAINER: ubuntu:20.04 | |
| USE_DEB: false | |
| NOT_TEST_INSTALL : true | |
| - ROS_DISTRO: noetic | |
| CONTAINER: ubuntu:20.04 | |
| USE_DEB: source | |
| NOT_TEST_INSTALL : true | |
| container: | |
| image: ${{ matrix.CONTAINER }} | |
| volumes: | |
| - /tmp/node20:/__e/node20 | |
| steps: | |
| - name: Install latest git ( use sudo for ros-ubuntu ) | |
| run: | | |
| (apt-get update && apt-get install -y sudo) || echo "OK" | |
| sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git | |
| - name: work around permission issue # https://github.com/actions/checkout/issues/760#issuecomment-1097501613 | |
| run: | | |
| set -x | |
| export USER=$(whoami) | |
| if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then | |
| git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok | |
| sudo mkdir -p /__w/ | |
| sudo chmod 777 -R /__w/ | |
| sudo chown -R $USER $HOME | |
| # sudo mkdir -p /home/runner/work/_temp/_github_workflow/ | |
| # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/ | |
| # ls -al /home/runner/work/_temp/_github_workflow/ | |
| else | |
| git config --global --add safe.directory $GITHUB_WORKSPACE | |
| fi | |
| - name: Try to replace `node` with an glibc 2.17 | |
| shell: bash | |
| run: | | |
| if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then | |
| export USER=$(whoami) | |
| sudo chmod 777 -R /__e/node20 | |
| sudo chown -R $USER /__e/node20 | |
| fi | |
| ls -lar /__e/node20 && | |
| sudo apt-get install -y curl && | |
| curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz && | |
| cd /__e/node20 && | |
| tar -x --strip-components=1 -f /tmp/node.tar.gz && | |
| ls -lar /__e/node20/bin/ | |
| - name: Checkout | |
| uses: actions/checkout@v3.0.2 | |
| - name: Start X server | |
| if: ${{ matrix.ROS_DISTRO == 'kinetic' && matrix.TEST_PKGS == 'pr2eus pr2eus_moveit' }} | |
| run: | | |
| if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi | |
| echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata | |
| sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget | |
| export DISPLAY=:0 | |
| wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/dummy.xorg.conf -O /tmp/dummy.xorg.conf | |
| sudo Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile /tmp/xorg.log -config /tmp/dummy.xorg.conf $DISPLAY & | |
| sleep 3 # wait x server up | |
| export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI | |
| xhost +local:root | |
| shell: bash | |
| - name: Fix geneus source tree | |
| run: | | |
| sed -i "s@http://github.com/jsk-ros-pkg/geneus@http://github.com/tork-a/geneus-release.git\n version:\ release/indigo/geneus@" .travis.rosinstall | |
| cat .travis.rosinstall | |
| sed -i "s@jsk-ros-pkg/geneus@tork-a/geneus-release@" setup_upstream.sh | |
| sed -i "/^wstool update/a (cd \$WORKSPACE/src/geneus; git checkout release/indigo/geneus)" setup_upstream.sh | |
| cat setup_upstream.sh | |
| if: ${{ matrix.ROS_DISTRO }} == "indigo" && ${{ matrix.USE_DEB }} == "false" | |
| - name: Install src | |
| run: | | |
| export INSTALL_SRC="${{ matrix.INSTALL_SRC }}" | |
| sudo apt-get install -y -qq python-yaml | |
| sudo apt-get install -y -qq python-is-python3 python3-yaml || echo "OK" # for 20.04 | |
| rm .travis.rosinstall | |
| for src in $INSTALL_SRC; do name=`basename $src`; python -c "import yaml;print(yaml.dump([{'git':{'uri':'$src','local-name':'$name'}}], default_flow_style=False))" >> .travis.rosinstall; done; | |
| cat .travis.rosinstall | |
| if: "matrix.INSTALL_SRC != ''" | |
| - name: Run jsk_travis | |
| uses: jsk-ros-pkg/jsk_travis@master | |
| with: | |
| ROS_PARALLEL_JOBS : "-j1" | |
| CATKIN_PARALLEL_JOBS : "-p2" | |
| ROS_PARALLEL_TEST_JOBS : "-j1" | |
| CATKIN_PARALLEL_TEST_JOBS : "-p2" | |
| ROS_DISTRO : ${{ matrix.ROS_DISTRO }} | |
| USE_DEB : ${{ matrix.USE_DEB }} | |
| NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }} | |
| TEST_PKGS : ${{ matrix.TEST_PKGS }} | |
| BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }} | |
| # ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions | |
| ros-o: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - DISTRO: ubuntu:22.04 | |
| ROS_REPOSITORY_URL: https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository | |
| container: ${{ matrix.DISTRO }} | |
| env: | |
| DEBIAN_FRONTEND : noninteractive | |
| steps: | |
| - name: Chcekout Source | |
| uses: actions/checkout@v3.0.2 | |
| - name: Setup ROS-O deb repository | |
| run: | | |
| set -x | |
| apt update && apt install -qq -y ca-certificates | |
| echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list | |
| ## | |
| # https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28 | |
| # Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow. | |
| test "${{ matrix.DISTRO }}" = "ubuntu:24.04" && apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros | |
| ## | |
| apt update | |
| apt install -qq -y python3-rosdep2 | |
| echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list | |
| rosdep update | |
| - name: Setup catkin-tools | |
| run: | | |
| set -x | |
| # setup catkin tools | |
| apt install -qq -y python3-pip | |
| pip3 install catkin-tools | |
| # setup build tools | |
| apt install -qq -y cmake build-essential catkin ros-one-rosbash | |
| - name: override rosdep rule to use system euslisp | |
| run: | | |
| set -x | |
| apt install -qq -y curl | |
| curl -L https://github.com/mikefarah/yq/releases/download/v4.33.3/yq_linux_amd64 -o /usr/local/bin/yq | |
| chmod a+x /usr/local/bin/yq | |
| yq eval -n '.euslisp.ubuntu = "euslisp-dev" | .jskeus.ubuntu = "jskeus-dev"' | tee rosdep.yaml | |
| echo "yaml file:///$(pwd)/rosdep.yaml" | tee /etc/ros/rosdep/sources.list.d/01-local.list | |
| rosdep update | |
| shell: bash | |
| - name: Setup Workspace | |
| run: | | |
| source /opt/ros/one/setup.bash | |
| set -x | |
| # setup workspace | |
| mkdir -p ~/ws/src | |
| cd ~/ws/src | |
| ln -sf $GITHUB_WORKSPACE . | |
| rosdep install -qq -r -y --from-path . --ignore-src || echo "OK" | |
| shell: bash | |
| - name: Compile Packages | |
| run: | | |
| source /opt/ros/one/setup.bash | |
| set -x | |
| cd ~/ws/ | |
| catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }} | |
| shell: bash | |
| - name: Test Packages | |
| run: | | |
| source /opt/ros/one/setup.bash | |
| source ~/ws/devel/setup.bash | |
| roscd roseus | |
| set -x | |
| catkin test --no-status -sv roseus | |
| shell: bash |