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micro-ROS Rolling add CI
Signed-off-by: David Laseca Perez <davidlaseca@eprosima.com>
1 parent f5436e7 commit 9309c1c

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Lines changed: 727 additions & 233 deletions

‎.github/workflows/ubuntu-ci.yml‎

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name: ubuntu CI micro-ROS rcl
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# The container image is derived from the branch under test, which works
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# because the branch names are the distro names:
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# - humble -> ros:humble-ros-base (Ubuntu 22.04 jammy)
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# - jazzy -> ros:jazzy-ros-base (Ubuntu 24.04 noble)
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# - kilted -> ros:kilted-ros-base (Ubuntu 24.04 noble)
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# - lyrical -> ros:lyrical-ros-base (Ubuntu 26.04 resolute)
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# - rolling -> ros:rolling-ros-base (Ubuntu 26.04 resolute)
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#
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# rcl is tested against rmw_microxrcedds, the middleware micro-ROS actually ships.
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# `-DRCL_MICROROS=ON` only selects rcl's stripped code paths; it says nothing about
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# the RMW, so without the stack below rcl would bind to the image's rmw_fastrtps_cpp
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# and none of this fork's target middleware would ever be exercised.
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#
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# That means building the XRCE client stack, the type support generator and the Agent
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# from source (none of them are released into a ROS distro), plus rebuilding every
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# interface package the tests use: the image's binary test_msgs carries DDS type
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# support only, and under XRCE all serialization happens on the client.
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#
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# rcl registers its tests once per *available* RMW (call_for_each_rmw_implementation),
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# so one build yields both __rmw_microxrcedds and __rmw_fastrtps_cpp entries and the
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# two test steps below select between them with ctest. Note that rcl_action registers
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# only part of its suite that way and rcl_lifecycle none of it: those tests carry no
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# RMW suffix and follow the RMW_IMPLEMENTATION in the environment instead.
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#
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# Besides push and pull_request, this is callable via workflow_call so a scheduled
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# workflow on the default branch can run it once per distro branch. Note that
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# `uses: ./.github/workflows/ci.yml` always resolves to the *caller's* copy of this
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# file, so the default branch's copy is what runs for every branch it tests; only
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# the checked-out source and the container image follow `inputs.branch`.
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on:
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push:
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branches:
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- humble
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- jazzy
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- kilted
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- lyrical
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- rolling
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pull_request:
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branches:
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- humble
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- jazzy
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- kilted
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- lyrical
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- rolling
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workflow_call:
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inputs:
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branch:
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description: >
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Distro branch to check out and test. Leave unset for push and
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pull_request, where the triggering ref is used instead.
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type: string
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required: false
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default: ''
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# To enable manual trigger
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workflow_dispatch:
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}-${{ inputs.branch }}
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cancel-in-progress: true
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defaults:
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run:
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shell: bash
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jobs:
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rcl_microros_ci:
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runs-on: ubuntu-latest
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# inputs.branch is used when this workflow is called
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# github.base_ref covers pull requests
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# github.ref_name is the branch on a push
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container: ros:${{ inputs.branch || github.base_ref || github.ref_name }}-ros-base
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timeout-minutes: 90
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steps:
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- uses: actions/checkout@v5
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with:
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# Empty on push and pull_request, which leaves checkout's own behaviour
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# intact — importantly the PR merge ref, so PRs keep testing the merge
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# result rather than the base branch.
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ref: ${{ inputs.branch }}
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path: src/rcl
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- name: Download dependencies
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run: |
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: "${ROS_DISTRO:?not set — is the container a ros:<distro>-ros-base image?}"
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. /opt/ros/$ROS_DISTRO/setup.bash
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# The image ships no apt lists (every layer of its Dockerfile ends in
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# `rm -rf /var/lib/apt/lists/*`) and rosdep does not refresh them itself,
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# so this is required before rosdep can install anything.
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apt-get update
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apt-get install -y git
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# Micro-CDR and the XRCE Client are distro independent and pinned; the RMW,
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# the type support generator and the Agent wrapper track the distro.
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git clone -b v2.0.2 https://github.com/eProsima/Micro-CDR src/Micro-CDR
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git clone -b v3.0.2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
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git clone -b $ROS_DISTRO https://github.com/micro-ROS/rmw_microxrcedds src/rmw_microxrcedds
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git clone -b $ROS_DISTRO https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
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git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro-ROS-Agent src/micro-ROS-Agent
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touch src/rosidl_typesupport_microxrcedds/test/COLCON_IGNORE
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# The tests' interface packages must be rebuilt from source so the micro-ROS
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# type support is generated for them; the binaries in the image have DDS type
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# support only. rcl_interfaces carries test_msgs, action_msgs, lifecycle_msgs,
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# service_msgs, builtin_interfaces and type_description_interfaces.
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git clone -b $ROS_DISTRO https://github.com/ros2/rcl_interfaces src/rcl_interfaces
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git clone -b $ROS_DISTRO https://github.com/ros2/test_interface_files src/test_interface_files
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git clone -b $ROS_DISTRO https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs
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# rosdep is already initialised in the image; only its cache is stale.
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# microcdr, microxrcedds_client and microxrcedds_agent are built from source
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# here (the Agent's superbuild clones the XRCE Agent itself), so skip those keys.
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rosdep update --rosdistro $ROS_DISTRO
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rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y \
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--skip-keys "microcdr microxrcedds_client microxrcedds_agent"
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- name: Build
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id: build
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# GitHub replaces the image's entrypoint for container jobs, so
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# /ros_entrypoint.sh never runs and each step must source ROS itself.
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#
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# The build is staged because ordering is load-bearing: nothing *declares* a
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# dependency on the type support generator — rosidl_generate_interfaces finds
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# generators through the ament index at configure time — so an interface package
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# configured before the generator is installed silently ends up without
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# micro-ROS type support. Re-sourcing between stages is what makes it visible.
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# Staging also gives per-package cmake args without a colcon.meta.
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run: |
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. /opt/ros/$ROS_DISTRO/setup.bash
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# 1. Type support generators, so every interface package built later sees them
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colcon build \
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--event-handlers console_direct+ \
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--packages-up-to rosidl_typesupport_microxrcedds_c rosidl_typesupport_microxrcedds_cpp \
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--cmake-args -DBUILD_TESTING=OFF -DBUILD_SHARED_LIBS=ON
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. install/local_setup.bash
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# 2. The RMW under test and the XRCE client, sized with micro-ROS's own host
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# profile (micro_ros_setup/config/host/generic/client-host-colcon.meta). The
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# pools are per process and the stock 4 is exceeded immediately; the Agent
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# address is compile-time, so it has to match the Agent command below.
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# UCLIENT_PROFILE_MULTITHREAD reaches rmw_microxrcedds through the client's
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# installed config.h and is what guards both the shared XRCE session and the
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# RMW's own static mempools — rcl's tests drive them from several threads.
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# This stage must precede rcl: call_for_each_rmw_implementation only emits the
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# __rmw_microxrcedds test entries if the RMW is installed when rcl is configured.
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colcon build \
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--event-handlers console_direct+ \
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--packages-up-to rmw_microxrcedds \
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--cmake-args -DBUILD_TESTING=OFF -DBUILD_SHARED_LIBS=ON \
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-DUCLIENT_PROFILE_MULTITHREAD=ON \
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-DRMW_UXRCE_TRANSPORT=udp \
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-DRMW_UXRCE_DEFAULT_UDP_IP=127.0.0.1 -DRMW_UXRCE_DEFAULT_UDP_PORT=8888 \
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-DRMW_UXRCE_MAX_NODES=15 -DRMW_UXRCE_MAX_PUBLISHERS=15 \
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-DRMW_UXRCE_MAX_SUBSCRIPTIONS=15 -DRMW_UXRCE_MAX_SERVICES=15 \
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-DRMW_UXRCE_MAX_CLIENTS=15 \
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-DRMW_UXRCE_STREAM_HISTORY=32 -DRMW_UXRCE_MAX_HISTORY=10 \
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-DRMW_UXRCE_TOPIC_NAME_MAX_LENGTH=120 -DRMW_UXRCE_TYPE_NAME_MAX_LENGTH=150
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. install/local_setup.bash
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# 3. The interface packages other interface packages depend on, before the rest.
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# Without this stage test_msgs configures while service_msgs and
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# unique_identifier_msgs still resolve to the image's binaries, and its
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# micro-ROS type support links their Fast DDS type support instead — which
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# only surfaces later as an undefined symbol when an action type is used.
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# micro_ros_setup's host build.sh stages these two for the same reason.
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# service_msgs doesn't exist in humble, so only add it if present.
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packages_stage3="unique_identifier_msgs builtin_interfaces"
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if [ -d src/rcl_interfaces/service_msgs ]; then
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packages_stage3="service_msgs $packages_stage3"
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fi
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colcon build \
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--event-handlers console_direct+ \
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--packages-up-to $packages_stage3 \
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--cmake-args -DBUILD_TESTING=OFF -DBUILD_SHARED_LIBS=ON
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. install/local_setup.bash
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# 4. The packages under test, pulling in the interface packages as dependencies
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# — now regenerated with micro-ROS type support. BUILD_TESTING stays on, and
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# RelWithDebInfo keeps asserts and symbols: this suite has never run against
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# this middleware, so a usable backtrace is worth more than -O3.
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colcon build \
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--event-handlers console_direct+ \
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--packages-up-to rcl rcl_action rcl_lifecycle \
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--cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_SHARED_LIBS=ON -DRCL_MICROROS=ON
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. install/local_setup.bash
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# 5. The Agent is test infrastructure only: built last, so a failure in the
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# packages under test is reported before the several minutes this takes, and
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# built optimised since we never debug it. Its superbuild clones and builds
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# the XRCE Agent itself, taking fastcdr and fastdds from the image.
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colcon build \
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--event-handlers console_direct+ \
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--packages-up-to micro_ros_agent \
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--cmake-args -DCMAKE_BUILD_TYPE=Release
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# No `if:` here on purpose: this step carries the implicit success() condition, so
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# it is skipped when the build failed, and its own failure fails the job. This is
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# the middleware the fork targets, so it is the gate.
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- name: Test (micro XRCE-DDS)
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run: |
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. /opt/ros/$ROS_DISTRO/setup.bash
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. install/local_setup.bash
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# start an Agent
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install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent udp4 --port 8888 -d -v4 &
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agent_pid=$!
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sleep 1
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# rcl registers each middleware test once per available RMW, as <test>__<rmw>.
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# Excluding the Fast DDS ones leaves this middleware's copies plus the entries
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# that carry no RMW suffix. It assumes rmw_fastrtps_cpp is the only DDS implementation
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# in the image, which holds for every ros-base image these branches use.
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# RMW_IMPLEMENTATION is needed because the un-suffixed entries are not
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# middleware free: every rcl test binary resolves an RMW on start-up, so
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# without it they would run against the image's Fast DDS. The suffixed ones
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# set it themselves through ctest and are unaffected.
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# What cannot run here is guarded in the sources or in CMakeLists.
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RMW_IMPLEMENTATION=rmw_microxrcedds colcon test \
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--event-handlers console_direct+ \
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--return-code-on-test-failure \
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--packages-select rcl \
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--ctest-args -E "__rmw_fastrtps_cpp"
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# rcl_action registers only three targets per RMW (all guarded in its
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# CMakeLists) and rcl_lifecycle none, so their tests carry no RMW suffix and
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# take the middleware from the environment instead of a ctest filter.
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RMW_IMPLEMENTATION=rmw_microxrcedds colcon test \
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--event-handlers console_direct+ \
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--return-code-on-test-failure \
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--packages-select rcl_action rcl_lifecycle
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# kill Agent so the next step runs without it
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kill $agent_pid
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wait $agent_pid || true
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- name: Test results (micro XRCE-DDS)
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if: ${{ !cancelled() && steps.build.outcome == 'success' }}
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run: |
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. /opt/ros/$ROS_DISTRO/setup.bash
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colcon test-result --verbose
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- name: Test (Fast DDS)
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# the same reduced suite against Fast DDS
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# it excludes the uxrce test entries
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if: ${{ !cancelled() && steps.build.outcome == 'success' }}
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run: |
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. /opt/ros/$ROS_DISTRO/setup.bash
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. install/local_setup.bash
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colcon test \
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--event-handlers console_direct+ \
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--return-code-on-test-failure \
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--packages-select rcl rcl_action rcl_lifecycle \
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--ctest-args -E "__rmw_microxrcedds"
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- name: Test results (Fast DDS)
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# this colcon test-result covers both runs
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if: ${{ !cancelled() && steps.build.outcome == 'success' }}
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run: |
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. /opt/ros/$ROS_DISTRO/setup.bash
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colcon test-result --verbose

‎.github/workflows/weekly-ubuntu-ci.yml‎

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name: Weekly ubuntu CI micro-ROS rcl
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on:
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schedule:
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# Mondays at 02:00 UTC
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- cron: '0 2 * * 1'
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# To enable manual trigger
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workflow_dispatch:
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jobs:
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ubuntu_ci:
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name: ${{ matrix.branch }}
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strategy:
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# Without this, one distro failing would cancel the others and
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# hide if they are fine
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fail-fast: false
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matrix:
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branch:
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- humble
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- jazzy
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- kilted
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- lyrical
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- rolling
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uses: ./.github/workflows/ubuntu-ci.yml
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with:
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branch: ${{ matrix.branch }}

‎rcl/CMakeLists.txt‎

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endif()
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123123
if(NOT RCL_MICROROS)
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target_compile_definitions(${PROJECT_NAME}
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PUBLIC
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RCL_MICROROS_COMPLETE_IMPL
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target_compile_definitions(${PROJECT_NAME}
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PUBLIC
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RCL_MICROROS_COMPLETE_IMPL
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)
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endif()
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‎rcl/src/rcl/init.c‎

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context->impl->init_options.impl->rmw_init_options.enclave = rcutils_strdup(
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"/", context->impl->allocator);
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}
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#else
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context->impl->init_options.impl->rmw_init_options.enclave = rcutils_strdup(
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"/", context->impl->allocator);
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#endif // RCL_MICROROS_COMPLETE_IMPL
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243247
if (!context->impl->init_options.impl->rmw_init_options.enclave) {
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RCL_SET_ERROR_MSG("failed to set context name");
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276280
fail_ret = ret;
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goto fail;
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}
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#endif // RCL_MICROROS_COMPLETE_IMPL
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// Initialize rmw_init.
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rmw_ret_t rmw_ret = rmw_init(

‎rcl/src/rcl/logging.c‎

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const char * config_file = global_args->impl->external_log_config_file;
7474
bool global_disable = false;
7575
#ifdef RCUTILS_NO_LOGGING
76-
global_disable = true;
76+
global_disable = true;
7777
#endif
7878
g_rcl_logging_stdout_enabled = !global_args->impl->log_stdout_disabled && !global_disable;
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g_rcl_logging_rosout_enabled = !global_args->impl->log_rosout_disabled && !global_disable;

‎rcl/src/rcl/subscription.c‎

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@@ -252,12 +252,12 @@ rcl_subscription_get_default_options(void)
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default_options.allocator = rcl_get_default_allocator();
253253
default_options.rmw_subscription_options = rmw_get_default_subscription_options();
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#ifdef RCL_MICROROS_COMPLETE_IMPL
256255
// Load disable flag to LoanedMessage via environmental variable.
257256
// TODO(clalancette): This is kind of a copy of rcl_get_disable_loaned_message(), but we need
258257
// more information than that function provides.
259258
default_options.disable_loaned_message = true;
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260+
#ifdef RCL_MICROROS_COMPLETE_IMPL
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const char * env_val = NULL;
262262
const char * env_error_str = rcutils_get_env(RCL_DISABLE_LOANED_MESSAGES_ENV_VAR, &env_val);
263263
if (NULL != env_error_str) {

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