config.yml

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