Build Common Deb #1
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| name: Build Common Deb | |
| # Runs in https://github.com/fiveages-sim/robot-descriptions-common — repo root is the colcon workspace (no parent submodule). | |
| on: | |
| push: | |
| tags: | |
| - "v*" | |
| workflow_dispatch: | |
| inputs: | |
| tag: | |
| description: Release tag to upload the deb asset to | |
| required: false | |
| type: string | |
| ros_distro: | |
| description: ROS distro used in the install path | |
| required: false | |
| default: jazzy | |
| type: string | |
| permissions: | |
| contents: write | |
| jobs: | |
| build-common-deb: | |
| runs-on: ubuntu-24.04 | |
| env: | |
| PACKAGE_NAME: robot-descriptions-jazzy-common | |
| DEB_FILE_PREFIX: robot-descriptions-jazzy-common | |
| INSTALL_PREFIX: /opt/ros/jazzy | |
| DEFAULT_ROS_DISTRO: jazzy | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - name: Resolve release metadata | |
| id: meta | |
| shell: bash | |
| env: | |
| INPUT_TAG: ${{ github.event.inputs.tag }} | |
| INPUT_ROS_DISTRO: ${{ github.event.inputs.ros_distro }} | |
| run: | | |
| set -eo pipefail | |
| if [[ -n "${INPUT_TAG:-}" ]]; then | |
| tag="$INPUT_TAG" | |
| elif [[ "${GITHUB_REF_TYPE:-}" == "tag" ]]; then | |
| tag="${GITHUB_REF_NAME}" | |
| else | |
| echo "A release tag is required for workflow_dispatch." >&2 | |
| exit 1 | |
| fi | |
| if [[ "${tag}" != [vV]* ]]; then | |
| tag="v${tag}" | |
| fi | |
| version="${tag#v}" | |
| version="${version#V}" | |
| version="$(printf '%s' "$version" | sed 's/-/~/g')" | |
| if [[ -z "$version" ]]; then | |
| echo "Unable to derive a package version from tag: $tag" >&2 | |
| exit 1 | |
| fi | |
| ros_distro="${INPUT_ROS_DISTRO:-$DEFAULT_ROS_DISTRO}" | |
| deb_file="${DEB_FILE_PREFIX}_${version}_amd64.deb" | |
| echo "tag=$tag" >> "$GITHUB_OUTPUT" | |
| echo "version=$version" >> "$GITHUB_OUTPUT" | |
| echo "ros_distro=$ros_distro" >> "$GITHUB_OUTPUT" | |
| echo "deb_file=$deb_file" >> "$GITHUB_OUTPUT" | |
| - name: Validate workspace | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| if [[ ! -f robot_common_launch/package.xml ]]; then | |
| echo "robot_common_launch/package.xml not found at repo root." >&2 | |
| exit 1 | |
| fi | |
| - name: Install system tools | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| sudo apt-get update | |
| sudo apt-get install -y curl gnupg lsb-release software-properties-common | |
| sudo add-apt-repository universe | |
| sudo mkdir -p /etc/apt/keyrings | |
| curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ | |
| | sudo gpg --dearmor -o /etc/apt/keyrings/ros-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "${UBUNTU_CODENAME}") main" \ | |
| | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| python3-rosdep \ | |
| python3-colcon-core \ | |
| python3-colcon-common-extensions \ | |
| python3-vcstool \ | |
| python3-pip \ | |
| python3-catkin-pkg-modules \ | |
| fakeroot \ | |
| dpkg-dev \ | |
| rsync \ | |
| build-essential \ | |
| cmake \ | |
| ros-${{ steps.meta.outputs.ros_distro }}-ament-cmake \ | |
| ros-${{ steps.meta.outputs.ros_distro }}-ament-cmake-core \ | |
| ros-${{ steps.meta.outputs.ros_distro }}-ament-package \ | |
| ros-${{ steps.meta.outputs.ros_distro }}-ros-base | |
| sudo rosdep init || true | |
| rosdep update | |
| source "/opt/ros/${{ steps.meta.outputs.ros_distro }}/setup.bash" | |
| python3 -c "import ament_package; print('ament_package ready:', ament_package.__file__)" | |
| - name: Install common ROS dependencies | |
| shell: bash | |
| env: | |
| ROS_DISTRO: ${{ steps.meta.outputs.ros_distro }} | |
| run: | | |
| set -eo pipefail | |
| source "/opt/ros/${ROS_DISTRO}/setup.bash" | |
| ros_python_path="/opt/ros/${ROS_DISTRO}/lib/python$(python3 -c 'import sys; print(str(sys.version_info.major) + "." + str(sys.version_info.minor))')/site-packages" | |
| export PYTHONPATH="${ros_python_path}:${PYTHONPATH:-}" | |
| rosdep install \ | |
| --from-paths . \ | |
| --ignore-src \ | |
| --rosdistro "${ROS_DISTRO}" \ | |
| --reinstall \ | |
| -r \ | |
| -y | |
| - name: Build common install space | |
| shell: bash | |
| env: | |
| ROS_DISTRO: ${{ steps.meta.outputs.ros_distro }} | |
| run: | | |
| set -eo pipefail | |
| source "/opt/ros/${ROS_DISTRO}/setup.bash" | |
| ros_python_path="/opt/ros/${ROS_DISTRO}/lib/python$(python3 -c 'import sys; print(str(sys.version_info.major) + "." + str(sys.version_info.minor))')/site-packages" | |
| export PYTHONPATH="${ros_python_path}:${PYTHONPATH:-}" | |
| build_root="${RUNNER_TEMP}/colcon-common" | |
| package_root="${RUNNER_TEMP}/deb-build/package" | |
| install_prefix="${INSTALL_PREFIX}" | |
| install_root="${package_root}${install_prefix}" | |
| rm -rf "$build_root" "$package_root" | |
| mkdir -p "$build_root" "$package_root" | |
| colcon --log-base "${build_root}/log" build \ | |
| --base-paths "${GITHUB_WORKSPACE}" \ | |
| --build-base "${build_root}/build" \ | |
| --install-base "${install_root}" \ | |
| --merge-install | |
| python3 -c "import sys; exec('''import os\ninstall_root = sys.argv[1]\nruntime_prefix = sys.argv[2]\nfor dirpath, _, filenames in os.walk(install_root):\n for filename in filenames:\n path = os.path.join(dirpath, filename)\n try:\n with open(path, 'r', encoding='utf-8') as f:\n content = f.read()\n except Exception:\n continue\n if install_root not in content:\n continue\n with open(path, 'w', encoding='utf-8') as f:\n f.write(content.replace(install_root, runtime_prefix))''')" "$install_root" "$install_prefix" | |
| rm -f \ | |
| "${install_root}/setup.bash" \ | |
| "${install_root}/setup.sh" \ | |
| "${install_root}/setup.zsh" \ | |
| "${install_root}/setup.ps1" \ | |
| "${install_root}/local_setup.bash" \ | |
| "${install_root}/local_setup.sh" \ | |
| "${install_root}/local_setup.zsh" \ | |
| "${install_root}/local_setup.ps1" \ | |
| "${install_root}/_local_setup_util.py" \ | |
| "${install_root}/_local_setup_util_sh.py" \ | |
| "${install_root}/_local_setup_util_ps1.py" \ | |
| "${install_root}/.colcon_install_layout" \ | |
| "${install_root}/COLCON_IGNORE" | |
| if [[ ! -d "${install_root}/share/ament_index/resource_index/packages" ]]; then | |
| echo "ament index was not generated in the install space." >&2 | |
| exit 1 | |
| fi | |
| - name: Build deb package | |
| id: build | |
| shell: bash | |
| env: | |
| ROS_DISTRO: ${{ steps.meta.outputs.ros_distro }} | |
| VERSION: ${{ steps.meta.outputs.version }} | |
| DEB_FILE: ${{ steps.meta.outputs.deb_file }} | |
| run: | | |
| set -eo pipefail | |
| package_root="${RUNNER_TEMP}/deb-build/package" | |
| install_prefix="${INSTALL_PREFIX}" | |
| mkdir -p "$package_root/DEBIAN" | |
| installed_size="$(du -sk "$package_root" | cut -f1)" | |
| cat > "$package_root/DEBIAN/control" <<EOF | |
| Package: ${PACKAGE_NAME} | |
| Version: ${VERSION} | |
| Section: misc | |
| Priority: optional | |
| Architecture: amd64 | |
| Depends: ros-${ROS_DISTRO}-ros-base | |
| Maintainer: ${GITHUB_REPOSITORY} maintainers <github-actions[bot]@users.noreply.github.com> | |
| Installed-Size: ${installed_size} | |
| Description: Shared robot_descriptions common ROS packages | |
| Prebuilt packages from fiveages-sim/robot-descriptions-common installed into ${INSTALL_PREFIX} while excluding shared prefix setup files. | |
| EOF | |
| if [[ ! -d "${package_root}${install_prefix}/share/robot_common_launch" ]]; then | |
| echo "robot_common_launch was not installed into the package root." >&2 | |
| exit 1 | |
| fi | |
| dpkg-deb --root-owner-group --build "$package_root" "$DEB_FILE" | |
| echo "deb_path=${GITHUB_WORKSPACE}/${DEB_FILE}" >> "$GITHUB_OUTPUT" | |
| - name: Upload deb to release | |
| shell: bash | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| TAG: ${{ steps.meta.outputs.tag }} | |
| DEB_PATH: ${{ steps.build.outputs.deb_path }} | |
| run: | | |
| set -eo pipefail | |
| if ! gh release view "$TAG" > /dev/null 2>&1; then | |
| gh release create "$TAG" \ | |
| --title "$TAG" \ | |
| --notes "Automated release for Debian packages." | |
| fi | |
| gh release upload "$TAG" "$DEB_PATH" --clobber |