Feature/diff eef (#12) #5
Workflow file for this run
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Build Common Deb | |
| # Runs in https://github.com/fiveages-sim/robot-descriptions-common. | |
| # The repository root is the colcon workspace. | |
| 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 | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }}-${{ github.event.inputs.tag || github.ref_name }} | |
| cancel-in-progress: true | |
| env: | |
| DEFAULT_ROS_DISTRO: jazzy | |
| PACKAGE_NAME: ros-jazzy-robot-descriptions-common | |
| DEB_FILE_PREFIX: ros-jazzy-robot-descriptions-common | |
| INSTALL_PREFIX: /opt/ros/jazzy | |
| jobs: | |
| build_common_deb: | |
| name: build common deb (${{ matrix.arch }}) | |
| runs-on: ${{ matrix.runner }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - arch: amd64 | |
| runner: ubuntu-24.04 | |
| ros_distro: jazzy | |
| image: ros:jazzy-ros-base-noble | |
| - arch: arm64 | |
| runner: ubuntu-24.04-arm | |
| ros_distro: jazzy | |
| image: ros:jazzy-ros-base-noble | |
| container: | |
| image: ${{ matrix.image }} | |
| 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 }} | |
| MATRIX_ROS_DISTRO: ${{ matrix.ros_distro }} | |
| DEB_ARCH: ${{ matrix.arch }} | |
| run: | | |
| set -eo pipefail | |
| if [[ -n "${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${tag}" | |
| fi | |
| ros_distro="${INPUT_ROS_DISTRO:-$MATRIX_ROS_DISTRO}" | |
| if [[ "${ros_distro}" != "${MATRIX_ROS_DISTRO}" ]]; then | |
| echo "This containerized deb workflow currently supports only ROS 2 ${MATRIX_ROS_DISTRO}." >&2 | |
| echo "Requested: ${ros_distro}" >&2 | |
| exit 1 | |
| fi | |
| version="${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: $tag" >&2 | |
| exit 1 | |
| fi | |
| deb_file="${DEB_FILE_PREFIX}_${version}_${DEB_ARCH}.deb" | |
| echo "tag=$tag" >> "$GITHUB_OUTPUT" | |
| echo "version=$version" >> "$GITHUB_OUTPUT" | |
| echo "ros_distro=$ros_distro" >> "$GITHUB_OUTPUT" | |
| echo "deb_arch=$DEB_ARCH" >> "$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 build tools | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| apt-get update | |
| apt-get install -y \ | |
| python3-rosdep \ | |
| python3-colcon-core \ | |
| python3-colcon-common-extensions \ | |
| python3-vcstool \ | |
| python3-pip \ | |
| python3-catkin-pkg-modules \ | |
| sudo \ | |
| zstd \ | |
| 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-${{ steps.meta.outputs.ros_distro }}-ament-package | |
| source "/opt/ros/${{ steps.meta.outputs.ros_distro }}/setup.bash" | |
| python3 -c "import ament_package; print('ament_package ready:', ament_package.__file__)" | |
| - name: Prepare rosdep user | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| if ! id -u rosdep >/dev/null 2>&1; then | |
| useradd --create-home --shell /bin/bash rosdep | |
| fi | |
| mkdir -p /home/rosdep/.ros/rosdep | |
| chown -R rosdep:rosdep /home/rosdep/.ros | |
| echo "rosdep ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/rosdep | |
| chmod 0440 /etc/sudoers.d/rosdep | |
| - name: Cache rosdep sources | |
| id: cache-rosdep | |
| uses: actions/cache@v4 | |
| with: | |
| path: /home/rosdep/.ros/rosdep/sources.cache | |
| key: rosdep-${{ runner.os }}-${{ matrix.arch }}-${{ steps.meta.outputs.ros_distro }}-${{ hashFiles('**/package.xml') }} | |
| restore-keys: | | |
| rosdep-${{ runner.os }}-${{ matrix.arch }}-${{ steps.meta.outputs.ros_distro }}- | |
| rosdep-${{ runner.os }}-${{ matrix.arch }}- | |
| - name: Update rosdep sources | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| chown -R rosdep:rosdep /home/rosdep/.ros | |
| if [[ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]]; then | |
| PYTHONWARNINGS="ignore:pkg_resources is deprecated as an API:DeprecationWarning" rosdep init | |
| fi | |
| if [[ "${{ steps.cache-rosdep.outputs.cache-hit }}" == "true" ]]; then | |
| echo "Using restored rosdep sources cache." | |
| else | |
| sudo -H -u rosdep env \ | |
| PYTHONWARNINGS="ignore:pkg_resources is deprecated as an API:DeprecationWarning" \ | |
| rosdep update | |
| fi | |
| - 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" | |
| sudo -H -u rosdep env \ | |
| GITHUB_WORKSPACE="${GITHUB_WORKSPACE}" \ | |
| PYTHONPATH="${ros_python_path}:${PYTHONPATH:-}" \ | |
| PYTHONWARNINGS="ignore:pkg_resources is deprecated as an API:DeprecationWarning" \ | |
| ROS_DISTRO="${ROS_DISTRO}" \ | |
| bash -lc ' | |
| source "/opt/ros/${ROS_DISTRO}/setup.bash" | |
| rosdep install \ | |
| --from-paths "${GITHUB_WORKSPACE}" \ | |
| --ignore-src \ | |
| --rosdistro "${ROS_DISTRO}" \ | |
| -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 "${install_root}" \ | |
| --merge-install \ | |
| --cmake-args \ | |
| --no-warn-unused-cli \ | |
| -DBUILD_TESTING=OFF \ | |
| -DCMAKE_BUILD_TYPE=Release | |
| python3 -c "import sys; exec('''import os\ninstall_root = sys.argv[1]\nruntime_prefix = sys.argv[2]\nfor dirpath, _, filenames in os.walk(install_root):\n for filename in filenames:\n path = os.path.join(dirpath, filename)\n try:\n with open(path, 'r', encoding='utf-8') as f:\n content = f.read()\n except Exception:\n continue\n if install_root not in content:\n continue\n with open(path, 'w', encoding='utf-8') as f:\n f.write(content.replace(install_root, runtime_prefix))''')" "$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 "${install_root}/share/ament_index/resource_index/packages" ]]; then | |
| echo "ament index was not generated in the install space." >&2 | |
| exit 1 | |
| fi | |
| for required_pkg in robot_common_launch sensor_models component_models jodell_description; do | |
| if [[ ! -d "${install_root}/share/${required_pkg}" ]]; then | |
| echo "${required_pkg} was not installed into the package root." >&2 | |
| exit 1 | |
| fi | |
| done | |
| - 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 }} | |
| DEB_ARCH: ${{ steps.meta.outputs.deb_arch }} | |
| run: | | |
| set -eo pipefail | |
| package_root="${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: ${DEB_ARCH} | |
| Depends: ros-${ROS_DISTRO}-ros-base, ros-${ROS_DISTRO}-ament-index-python, ros-${ROS_DISTRO}-controller-manager, ros-${ROS_DISTRO}-joint-state-publisher-gui, ros-${ROS_DISTRO}-launch, ros-${ROS_DISTRO}-launch-ros, ros-${ROS_DISTRO}-rclpy, ros-${ROS_DISTRO}-robot-state-publisher, ros-${ROS_DISTRO}-xacro | |
| Provides: robot-descriptions-jazzy-common | |
| 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 workflow artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: robot-descriptions-common-${{ steps.meta.outputs.version }}-${{ matrix.arch }} | |
| path: ${{ steps.meta.outputs.deb_file }} | |
| if-no-files-found: error | |
| retention-days: 7 | |
| publish_common_deb: | |
| name: publish common debs | |
| runs-on: ubuntu-24.04 | |
| needs: build_common_deb | |
| outputs: | |
| tag: ${{ steps.meta.outputs.tag }} | |
| ros_distro: ${{ steps.meta.outputs.ros_distro }} | |
| version: ${{ steps.meta.outputs.version }} | |
| steps: | |
| - 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${tag}" | |
| fi | |
| ros_distro="${INPUT_ROS_DISTRO:-$DEFAULT_ROS_DISTRO}" | |
| version="${tag#v}" | |
| version="${version#V}" | |
| version="$(printf '%s' "$version" | sed 's/-/~/g')" | |
| echo "tag=$tag" >> "$GITHUB_OUTPUT" | |
| echo "ros_distro=$ros_distro" >> "$GITHUB_OUTPUT" | |
| echo "version=$version" >> "$GITHUB_OUTPUT" | |
| - name: Download built deb artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: robot-descriptions-common-${{ steps.meta.outputs.version }}-* | |
| merge-multiple: true | |
| - name: Publish debs to GitHub Release | |
| shell: bash | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| TAG: ${{ steps.meta.outputs.tag }} | |
| run: | | |
| set -eo pipefail | |
| ls -lh *.deb | |
| if ! gh release view "$TAG" --repo "${GITHUB_REPOSITORY}" > /dev/null 2>&1; then | |
| gh release create "$TAG" \ | |
| --repo "${GITHUB_REPOSITORY}" \ | |
| --title "$TAG" \ | |
| --notes "Automated release for Debian packages." | |
| fi | |
| gh release upload "$TAG" ./*.deb --repo "${GITHUB_REPOSITORY}" --clobber | |
| verify_common_deb: | |
| name: verify common deb (${{ matrix.arch }}) | |
| runs-on: ${{ matrix.runner }} | |
| needs: publish_common_deb | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - arch: amd64 | |
| runner: ubuntu-24.04 | |
| image: ros:jazzy-ros-base-noble | |
| - arch: arm64 | |
| runner: ubuntu-24.04-arm | |
| image: ros:jazzy-ros-base-noble | |
| container: | |
| image: ${{ matrix.image }} | |
| steps: | |
| - name: Resolve verify metadata | |
| id: meta | |
| shell: bash | |
| env: | |
| TAG: ${{ needs.publish_common_deb.outputs.tag }} | |
| VERSION: ${{ needs.publish_common_deb.outputs.version }} | |
| ROS_DISTRO: ${{ needs.publish_common_deb.outputs.ros_distro }} | |
| DEB_ARCH: ${{ matrix.arch }} | |
| run: | | |
| set -eo pipefail | |
| echo "tag=${TAG}" >> "$GITHUB_OUTPUT" | |
| echo "version=${VERSION}" >> "$GITHUB_OUTPUT" | |
| echo "ros_distro=${ROS_DISTRO}" >> "$GITHUB_OUTPUT" | |
| echo "deb_file=${DEB_FILE_PREFIX}_${VERSION}_${DEB_ARCH}.deb" >> "$GITHUB_OUTPUT" | |
| - name: Install verification tools | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| apt-get update | |
| apt-get install -y ca-certificates curl cmake build-essential | |
| mkdir -p -m 755 /etc/apt/keyrings | |
| curl -fsSL https://cli.github.com/packages/githubcli-archive-keyring.gpg \ | |
| -o /etc/apt/keyrings/githubcli-archive-keyring.gpg | |
| chmod go+r /etc/apt/keyrings/githubcli-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" \ | |
| > /etc/apt/sources.list.d/github-cli.list | |
| apt-get update | |
| apt-get install -y gh | |
| - name: Download deb from release | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| deb_file="${{ steps.meta.outputs.deb_file }}" | |
| tag="${{ steps.meta.outputs.tag }}" | |
| for attempt in {1..30}; do | |
| rm -f "${deb_file}" | |
| if gh release download "$tag" \ | |
| --repo "${GITHUB_REPOSITORY}" \ | |
| --pattern "${deb_file}"; then | |
| break | |
| fi | |
| echo "Asset ${deb_file} is not available yet (attempt ${attempt}/30); retrying in 20s..." | |
| sleep 20 | |
| done | |
| if [[ ! -f "${deb_file}" ]]; then | |
| echo "Timed out waiting for ${deb_file} in release ${tag}." >&2 | |
| gh release view "$tag" \ | |
| --repo "${GITHUB_REPOSITORY}" \ | |
| --json assets \ | |
| --jq '.assets[].name' || true | |
| exit 1 | |
| fi | |
| ls -lh "${deb_file}" | |
| - name: Install deb and verify package discovery | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| deb_file="${{ steps.meta.outputs.deb_file }}" | |
| ros_distro="${{ steps.meta.outputs.ros_distro }}" | |
| dpkg -i "./${deb_file}" || apt-get -f install -y | |
| set +u | |
| source "/opt/ros/${ros_distro}/setup.bash" | |
| set -u | |
| export CMAKE_PREFIX_PATH="${INSTALL_PREFIX}:${CMAKE_PREFIX_PATH:-}" | |
| export AMENT_PREFIX_PATH="${INSTALL_PREFIX}:${AMENT_PREFIX_PATH:-}" | |
| python3 - <<'PY' | |
| from ament_index_python.packages import get_package_share_directory | |
| for package_name in [ | |
| "robot_common_launch", | |
| "sensor_models", | |
| "component_models", | |
| "jodell_description", | |
| ]: | |
| print(package_name, get_package_share_directory(package_name)) | |
| import robot_common_launch | |
| print("robot_common_launch module:", robot_common_launch.__file__) | |
| PY | |
| rm -rf downstream_check | |
| mkdir -p downstream_check | |
| cat > downstream_check/CMakeLists.txt <<'EOF' | |
| cmake_minimum_required(VERSION 3.16) | |
| project(robot_descriptions_common_downstream_check) | |
| find_package(sensor_models REQUIRED) | |
| find_package(component_models REQUIRED) | |
| find_package(jodell_description REQUIRED) | |
| EOF | |
| cmake -Wno-dev -S downstream_check -B downstream_check/build |