build-common-deb.yml

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