ROS 2 CI #48
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| name: ROS 2 CI | |
| on: | |
| push: | |
| branches: [main] | |
| pull_request: | |
| branches: [main] | |
| schedule: | |
| - cron: "0 2 * * *" | |
| defaults: | |
| run: | |
| shell: bash | |
| jobs: | |
| build_and_test: | |
| name: "build / ${{ matrix.ros_distribution }}" | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distribution: | |
| - humble | |
| - jazzy | |
| - rolling | |
| include: | |
| - ros_distribution: humble | |
| container_image: rostooling/setup-ros-docker:ubuntu-jammy-latest | |
| - ros_distribution: jazzy | |
| container_image: rostooling/setup-ros-docker:ubuntu-noble-latest | |
| - ros_distribution: rolling | |
| container_image: rostooling/setup-ros-docker:ubuntu-noble-latest | |
| container: | |
| image: ${{ matrix.container_image }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| # python3-robotmem-pip rosdep key 尚在 review（ros/rosdistro PR #50206） | |
| # CI 中直接 pip install 替代 | |
| # Ubuntu 24.04+ (Noble): pip 需要 --break-system-packages | |
| # Ubuntu 22.04 (Jammy): 直接 pip install | |
| - name: "Install robotmem" | |
| run: pip3 install --break-system-packages --quiet "git+https://github.com/robotmem/robotmem.git" 2>/dev/null || pip3 install --quiet "git+https://github.com/robotmem/robotmem.git" | |
| - uses: ros-tooling/action-ros-ci@v0.4 | |
| id: action_ros_ci | |
| with: | |
| target-ros2-distro: ${{ matrix.ros_distribution }} | |
| package-name: >- | |
| robotmem_msgs | |
| robotmem_ros | |
| rosdep-skip-keys: python3-robotmem-pip | |
| # 暂时跳过 colcon test（unittest discover 问题待修） | |
| skip-tests: true | |
| colcon-defaults: | | |
| { | |
| "build": { | |
| "symlink-install": true | |
| } | |
| } | |
| - name: "Verify install" | |
| run: | | |
| test -d "${{ steps.action_ros_ci.outputs.ros-workspace-directory-name }}/install/robotmem_msgs" | |
| test -d "${{ steps.action_ros_ci.outputs.ros-workspace-directory-name }}/install/robotmem_ros" | |
| - uses: actions/upload-artifact@v4 | |
| if: always() | |
| with: | |
| name: colcon-logs-${{ matrix.ros_distribution }} | |
| path: | | |
| ${{ steps.action_ros_ci.outputs.ros-workspace-directory-name }}/log/ | |
| ${{ steps.action_ros_ci.outputs.ros-workspace-directory-name }}/build/*/test_results/ | |
| retention-days: 7 | |
| lint: | |
| name: "lint / ${{ matrix.linter }}" | |
| runs-on: ubuntu-latest | |
| # lint 不阻塞 CI（逐步修复中） | |
| continue-on-error: true | |
| container: | |
| image: rostooling/setup-ros-docker:ubuntu-noble-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| linter: [xmllint, copyright, flake8, pep257] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: jazzy | |
| - uses: ros-tooling/action-ros-lint@v0.1 | |
| with: | |
| linter: ${{ matrix.linter }} | |
| package-name: >- | |
| robotmem_msgs | |
| robotmem_ros |