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build common deb in submodule
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‎.github/workflows/build-common-deb.yml‎

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

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