rmw_unix_socket_cpp/.github/workflows/ci.yml at main · benaliabderrahmane/rmw_unix_socket_cpp · GitHub

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name: CI

on:
  push:
    branches: [main, devel]
  pull_request:
    branches: [main, devel]
  workflow_dispatch:

jobs:
  build-and-test:
    name: build & test (${{ matrix.ros_distro }})
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        ros_distro: [jazzy, kilted, rolling, lyrical]
    container:
      image: ros:${{ matrix.ros_distro }}-ros-base
      # Default Docker /dev/shm is 64MB; one domain registry mmap is ~37MB
      # and rmw_shutdown doesn't shm_unlink, so tests that init multiple
      # domains across processes exhaust tmpfs and crash with SIGBUS.
      options: --shm-size=1g
    steps:
      - name: Install build prerequisites
        shell: bash
        run: |
          apt-get update
          apt-get install -y --no-install-recommends \
            git \
            python3-colcon-common-extensions \
            python3-rosdep

      - uses: actions/checkout@v4

      - name: Resolve package dependencies
        shell: bash
        run: |
          rosdep update --rosdistro=${{ matrix.ros_distro }}
          # rosdep's --from-paths defaults exclude test deps, so list types
          # explicitly. Without this, test_msgs/rosidl_typesupport_cpp/etc.
          # are skipped and BUILD_TESTING=ON (colcon build default) fails to
          # configure.
          rosdep install --from-paths rmw_unix_socket_cpp --ignore-src -r -y \
            --rosdistro=${{ matrix.ros_distro }} \
            --dependency-types=buildtool \
            --dependency-types=build \
            --dependency-types=build_export \
            --dependency-types=exec \
            --dependency-types=test
          # Belt & suspenders: on Rolling, rosdep -r silently skips
          # test_msgs when its key drifts between syncs. Install the
          # test-only deps explicitly so find_package(test_msgs REQUIRED)
          # in the BUILD_TESTING block always has what it needs. Also pull
          # rosidl-runtime-cpp by name so apt upgrades it: the base image
          # is months behind the rolling sync, and a stale rosidl-runtime-cpp
          # is missing buffer__traits.hpp which the latest test_msgs headers
          # reference.
          apt-get install -y --no-install-recommends \
            ros-${{ matrix.ros_distro }}-test-msgs \
            ros-${{ matrix.ros_distro }}-rosidl-typesupport-cpp \
            ros-${{ matrix.ros_distro }}-rosidl-runtime-cpp
          # rosidl_buffer was introduced after Jazzy/Kilted were branched and
          # test_msgs' exported imported targets reference it; Lyrical branched
          # from Rolling after it landed, so both ship it. CMake side:
          # find_package(rosidl_buffer QUIET) in CMakeLists handles the
          # apt-missing case on older distros.
          if [ "${{ matrix.ros_distro }}" = "rolling" ] || [ "${{ matrix.ros_distro }}" = "lyrical" ]; then
            apt-get install -y --no-install-recommends \
              ros-${{ matrix.ros_distro }}-rosidl-buffer
          fi

      - name: Build
        shell: bash
        run: |
          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
          colcon build \
            --paths rmw_unix_socket_cpp \
            --event-handlers console_direct+ \
            --cmake-args -DCMAKE_BUILD_TYPE=Release

      - name: Test
        shell: bash
        run: |
          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
          source install/setup.bash
          colcon test \
            --paths rmw_unix_socket_cpp \
            --event-handlers console_direct+ \
            --return-code-on-test-failure

      - name: Test summary
        if: always()
        shell: bash
        run: colcon test-result --verbose

      - name: Upload test logs on failure
        if: failure()
        uses: actions/upload-artifact@v4
        with:
          name: test-logs-${{ matrix.ros_distro }}
          path: log/
          retention-days: 7