Feature/eincinx #17
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| name: Build Common Deb | |
| # Runs in https://github.com/fiveages-sim/robot-descriptions-common. | |
| # The repository root is the colcon workspace. | |
| # | |
| # Release policy: | |
| # - push v* tag -> formal GitHub Release | |
| # - pull_request merged into main -> single rolling pre-release (tag: pre-release) | |
| # deb Version: patch bump on latest formal; reset when pre-release X.Y drifts | |
| # - workflow_dispatch -> manual formal release for a given tag | |
| on: | |
| push: | |
| tags: | |
| - "v*" | |
| pull_request: | |
| types: | |
| - closed | |
| branches: | |
| - main | |
| 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_type == 'tag' && github.ref_name || (github.event_name == 'pull_request' && 'pre-release' || github.ref) }} | |
| 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 | |
| PRE_RELEASE_TAG: pre-release | |
| jobs: | |
| build_common_deb: | |
| name: build common deb (${{ matrix.arch }}) | |
| if: github.event_name != 'pull_request' || github.event.pull_request.merged == true | |
| 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@v5 | |
| with: | |
| fetch-depth: 0 | |
| ref: ${{ github.event.pull_request.merge_commit_sha || github.ref }} | |
| - 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 }} | |
| PRE_RELEASE_TAG: ${{ env.PRE_RELEASE_TAG }} | |
| MERGE_COMMIT_SHA: ${{ github.event.pull_request.merge_commit_sha }} | |
| PR_NUMBER: ${{ github.event.pull_request.number }} | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| set -eo pipefail | |
| resolve_prerelease_deb_version() { | |
| local short_sha="$1" | |
| local release_repo="$2" | |
| local fallback_package_xml="$3" | |
| RELEASE_REPO="${release_repo}" \ | |
| SHORT_SHA="${short_sha}" \ | |
| FALLBACK_PACKAGE_XML="${fallback_package_xml}" \ | |
| PRE_RELEASE_TAG="${PRE_RELEASE_TAG}" \ | |
| GH_TOKEN="${GH_TOKEN:-}" \ | |
| python3 "${GITHUB_WORKSPACE}/.github/scripts/resolve_prerelease_deb_version.py" | |
| } | |
| is_prerelease="false" | |
| if [[ "${GITHUB_EVENT_NAME}" == "pull_request" ]]; then | |
| if [[ -z "${MERGE_COMMIT_SHA}" ]]; then | |
| echo "Merge commit SHA is missing for merged pull request." >&2 | |
| exit 1 | |
| fi | |
| short_sha="$(printf '%s' "${MERGE_COMMIT_SHA}" | cut -c1-7)" | |
| tag="${PRE_RELEASE_TAG}" | |
| version="$(resolve_prerelease_deb_version "${short_sha}" "${GITHUB_REPOSITORY}" "robot_common_launch/package.xml")" | |
| is_prerelease="true" | |
| elif [[ -n "${INPUT_TAG:-}" ]]; then | |
| tag="$INPUT_TAG" | |
| elif [[ "${GITHUB_REF_TYPE:-}" == "tag" ]]; then | |
| tag="${GITHUB_REF_NAME}" | |
| else | |
| echo "A release tag is required for workflow_dispatch." >&2 | |
| exit 1 | |
| fi | |
| if [[ "${is_prerelease}" != "true" ]]; then | |
| if [[ "${tag}" != [vV]* ]]; then | |
| tag="v${tag}" | |
| fi | |
| version="${tag#v}" | |
| version="${version#V}" | |
| version="$(printf '%s' "$version" | sed 's/-/~/g')" | |
| fi | |
| if [[ -z "$version" ]]; then | |
| echo "Unable to derive a package version from tag: $tag" >&2 | |
| exit 1 | |
| fi | |
| ros_distro="${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: ${ros_distro}" >&2 | |
| exit 1 | |
| fi | |
| # GitHub Release rewrites "~" to "." in uploaded asset filenames. | |
| deb_file_version="${version//~/.}" | |
| deb_file="${DEB_FILE_PREFIX}_${deb_file_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" >> "$GITHUB_OUTPUT" | |
| echo "is_prerelease=$is_prerelease" >> "$GITHUB_OUTPUT" | |
| - name: Validate workspace | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| if [[ ! -f robot_common_launch/package.xml ]]; then | |
| echo "robot_common_launch/package.xml not found at repo root." >&2 | |
| exit 1 | |
| fi | |
| - name: Install build tools | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| apt-get update | |
| apt-get install -y \ | |
| python3-rosdep \ | |
| python3-colcon-core \ | |
| python3-colcon-common-extensions \ | |
| python3-vcstool \ | |
| python3-pip \ | |
| python3-catkin-pkg-modules \ | |
| sudo \ | |
| zstd \ | |
| fakeroot \ | |
| dpkg-dev \ | |
| rsync \ | |
| build-essential \ | |
| cmake \ | |
| ros-${{ 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/${{ steps.meta.outputs.ros_distro }}/setup.bash" | |
| python3 -c "import ament_package; print('ament_package ready:', ament_package.__file__)" | |
| - name: Prepare rosdep user | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| if ! id -u rosdep >/dev/null 2>&1; then | |
| useradd --create-home --shell /bin/bash rosdep | |
| fi | |
| mkdir -p /home/rosdep/.ros/rosdep | |
| chown -R rosdep:rosdep /home/rosdep/.ros | |
| echo "rosdep ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/rosdep | |
| chmod 0440 /etc/sudoers.d/rosdep | |
| - name: Cache rosdep sources | |
| id: cache-rosdep | |
| uses: actions/cache@v5 | |
| with: | |
| path: /home/rosdep/.ros/rosdep/sources.cache | |
| key: rosdep-${{ 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@v6 | |
| 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 }} | |
| is_prerelease: ${{ steps.meta.outputs.is_prerelease }} | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v5 | |
| with: | |
| ref: ${{ github.event.pull_request.merge_commit_sha || github.ref }} | |
| - name: Resolve release metadata | |
| id: meta | |
| shell: bash | |
| env: | |
| INPUT_TAG: ${{ github.event.inputs.tag }} | |
| INPUT_ROS_DISTRO: ${{ github.event.inputs.ros_distro }} | |
| PRE_RELEASE_TAG: ${{ env.PRE_RELEASE_TAG }} | |
| MERGE_COMMIT_SHA: ${{ github.event.pull_request.merge_commit_sha }} | |
| PR_NUMBER: ${{ github.event.pull_request.number }} | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| set -eo pipefail | |
| resolve_prerelease_deb_version() { | |
| local short_sha="$1" | |
| local release_repo="$2" | |
| local fallback_package_xml="$3" | |
| RELEASE_REPO="${release_repo}" \ | |
| SHORT_SHA="${short_sha}" \ | |
| FALLBACK_PACKAGE_XML="${fallback_package_xml}" \ | |
| PRE_RELEASE_TAG="${PRE_RELEASE_TAG}" \ | |
| GH_TOKEN="${GH_TOKEN:-}" \ | |
| python3 "${GITHUB_WORKSPACE}/.github/scripts/resolve_prerelease_deb_version.py" | |
| } | |
| is_prerelease="false" | |
| if [[ "${GITHUB_EVENT_NAME}" == "pull_request" ]]; then | |
| if [[ -z "${MERGE_COMMIT_SHA}" ]]; then | |
| echo "Merge commit SHA is missing for merged pull request." >&2 | |
| exit 1 | |
| fi | |
| short_sha="$(printf '%s' "${MERGE_COMMIT_SHA}" | cut -c1-7)" | |
| tag="${PRE_RELEASE_TAG}" | |
| version="$(resolve_prerelease_deb_version "${short_sha}" "${GITHUB_REPOSITORY}" "robot_common_launch/package.xml")" | |
| is_prerelease="true" | |
| elif [[ -n "${INPUT_TAG:-}" ]]; then | |
| tag="$INPUT_TAG" | |
| elif [[ "${GITHUB_REF_TYPE:-}" == "tag" ]]; then | |
| tag="${GITHUB_REF_NAME}" | |
| else | |
| echo "A release tag is required for workflow_dispatch." >&2 | |
| exit 1 | |
| fi | |
| ros_distro="${INPUT_ROS_DISTRO:-$DEFAULT_ROS_DISTRO}" | |
| if [[ "${is_prerelease}" != "true" ]]; then | |
| if [[ "${tag}" != [vV]* ]]; then | |
| tag="v${tag}" | |
| fi | |
| version="${tag#v}" | |
| version="${version#V}" | |
| version="$(printf '%s' "$version" | sed 's/-/~/g')" | |
| fi | |
| echo "tag=$tag" >> "$GITHUB_OUTPUT" | |
| echo "ros_distro=$ros_distro" >> "$GITHUB_OUTPUT" | |
| echo "version=$version" >> "$GITHUB_OUTPUT" | |
| echo "is_prerelease=$is_prerelease" >> "$GITHUB_OUTPUT" | |
| - name: Download built deb artifacts | |
| uses: actions/download-artifact@v7 | |
| 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 }} | |
| IS_PRERELEASE: ${{ steps.meta.outputs.is_prerelease }} | |
| PRE_RELEASE_TAG: ${{ env.PRE_RELEASE_TAG }} | |
| RELEASE_TARGET_SHA: ${{ github.event.pull_request.merge_commit_sha || github.sha }} | |
| PR_NUMBER: ${{ github.event.pull_request.number }} | |
| run: | | |
| set -eo pipefail | |
| ls -lh *.deb | |
| if [[ "${IS_PRERELEASE}" == "true" ]]; then | |
| echo "Cleaning up legacy pre-releases..." | |
| gh release list --repo "${GITHUB_REPOSITORY}" --limit 100 \ | |
| --json tagName,isPrerelease \ | |
| --jq ".[] | select(.isPrerelease and .tagName != \"${PRE_RELEASE_TAG}\") | .tagName" \ | |
| | while read -r old_tag; do | |
| [[ -z "$old_tag" ]] && continue | |
| echo "Deleting legacy pre-release: ${old_tag}" | |
| gh release delete "$old_tag" --repo "${GITHUB_REPOSITORY}" --yes --cleanup-tag || true | |
| done | |
| gh release delete "${TAG}" --repo "${GITHUB_REPOSITORY}" --yes --cleanup-tag 2>/dev/null || true | |
| gh release create "${TAG}" \ | |
| --repo "${GITHUB_REPOSITORY}" \ | |
| --target "${RELEASE_TARGET_SHA}" \ | |
| --title "Pre-release (main)" \ | |
| --notes "Rolling pre-release built from merged PR #${PR_NUMBER} @ ${RELEASE_TARGET_SHA} | |
| Workflow run: ${GITHUB_SERVER_URL}/${GITHUB_REPOSITORY}/actions/runs/${GITHUB_RUN_ID}" \ | |
| --prerelease \ | |
| ./*.deb | |
| else | |
| if ! gh release view "$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 | |
| fi | |
| 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}" >> "$GITHUB_OUTPUT" | |
| deb_file_version="${VERSION//~/.}" | |
| echo "deb_file=${DEB_FILE_PREFIX}_${deb_file_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 | |
| id: download-deb | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| shell: bash | |
| run: | | |
| set -eo pipefail | |
| deb_arch="${{ matrix.arch }}" | |
| tag="${{ steps.meta.outputs.tag }}" | |
| deb_file="" | |
| for attempt in {1..30}; do | |
| rm -f ./*.deb 2>/dev/null || true | |
| if ! gh release view "$tag" --repo "${GITHUB_REPOSITORY}" > /dev/null 2>&1; then | |
| echo "Release ${tag} is not available yet (attempt ${attempt}/30); retrying in 20s..." | |
| sleep 20 | |
| continue | |
| fi | |
| gh release download "$tag" \ | |
| --repo "${GITHUB_REPOSITORY}" \ | |
| --pattern "*_${deb_arch}.deb" | |
| deb_file="$(ls -1 *_"${deb_arch}.deb" 2>/dev/null | head -n1 || true)" | |
| if [[ -n "$deb_file" && -f "$deb_file" ]]; then | |
| echo "deb_file=${deb_file}" >> "${GITHUB_OUTPUT}" | |
| break | |
| fi | |
| echo "Asset *_${deb_arch}.deb is not available yet (attempt ${attempt}/30); retrying in 20s..." | |
| gh release view "$tag" \ | |
| --repo "${GITHUB_REPOSITORY}" \ | |
| --json assets \ | |
| --jq '.assets[].name' || true | |
| sleep 20 | |
| done | |
| if [[ -z "$deb_file" || ! -f "$deb_file" ]]; then | |
| echo "Timed out waiting for *_${deb_arch}.deb 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="${{ steps.download-deb.outputs.deb_file }}" | |
| ros_distro="${{ 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 -c 'import textwrap; exec(textwrap.dedent(""" | |
| 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__) | |
| """))' | |
| 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 |