diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml new file mode 100644 index 0000000..b8b1f01 --- /dev/null +++ b/.github/workflows/pre-commit.yml @@ -0,0 +1,27 @@ +--- +name: Pre-commit + +on: + pull_request: + push: + branches: [main] + +jobs: + run-pre-commit: + name: Pre-commit Check + runs-on: ubuntu-latest + + steps: + - uses: actions/checkout@v4 + + - uses: actions/setup-python@v5 + with: + python-version: '3.x' + + - name: Install pre-commit + run: | + python -m pip install --upgrade pip + pip install pre-commit + + - name: Run pre-commit hooks + run: pre-commit run --all-files diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml new file mode 100644 index 0000000..bb89475 --- /dev/null +++ b/.github/workflows/test.yml @@ -0,0 +1,138 @@ +name: Test Action + +on: + push: + branches: + - main + pull_request: + branches: + - main + workflow_dispatch: + +jobs: + test-all-packages: + runs-on: ubuntu-${{ matrix.ubuntu_version }} + + strategy: + fail-fast: false + matrix: + include: + - ros_distro: rolling + debian_distro: noble + ubuntu_version: '24.04' + packages_dir: test + + - ros_distro: kilted + debian_distro: noble + ubuntu_version: '24.04' + packages_dir: test + + - ros_distro: jazzy + debian_distro: noble + ubuntu_version: '24.04' + packages_dir: test + + - ros_distro: humble + debian_distro: jammy + ubuntu_version: '22.04' + packages_dir: test + + steps: + - name: Checkout Repository + uses: actions/checkout@v4 + + - name: Test ${{ matrix.ros_distro }} - All packages + uses: ./ + with: + ros_distro: ${{ matrix.ros_distro }} + debian_distro: ${{ matrix.debian_distro }} + packages_dir: ${{ matrix.packages_dir }} + + test-whitelist: + runs-on: ubuntu-22.04 + steps: + - name: Checkout Repository + uses: actions/checkout@v4 + + - name: Test whitelist - Only package_a and package_b + uses: ./ + with: + ros_distro: humble + debian_distro: jammy + packages_dir: test + package_whitelist: '^.*/package_[ab]$' + artifact_name: bloom-test-whitelist + + - name: Verify only package_a and package_b built + shell: bash + run: | + echo "Checking generated packages..." + ls -la ./bloom-build/output/ + + # Should have package_a and package_b + test -f ./bloom-build/output/ros-humble-package-a*.deb || (echo "Missing package_a" && exit 1) + test -f ./bloom-build/output/ros-humble-package-b*.deb || (echo "Missing package_b" && exit 1) + + # Should NOT have package_c, package_d, or package_test + ! ls ./bloom-build/output/ros-humble-package-c*.deb 2>/dev/null && echo "✓ No package_c (correct)" + ! ls ./bloom-build/output/ros-humble-package-d*.deb 2>/dev/null && echo "✓ No package_d (correct)" + ! ls ./bloom-build/output/ros-humble-package-test*.deb 2>/dev/null && echo "✓ No package_test (correct)" + + test-blacklist: + runs-on: ubuntu-22.04 + steps: + - name: Checkout Repository + uses: actions/checkout@v4 + + - name: Test blacklist - Exclude *_test packages + uses: ./ + with: + ros_distro: humble + debian_distro: jammy + packages_dir: test + package_blacklist: '.*_test$' + artifact_name: bloom-test-blacklist + + - name: Verify package_test was excluded + shell: bash + run: | + echo "Checking generated packages..." + ls -la ./bloom-build/output/ + + # Should NOT have package_test + ! ls ./bloom-build/output/ros-humble-package-test*.deb 2>/dev/null && echo "✓ package_test excluded (correct)" + + # Should have other packages + test -f ./bloom-build/output/ros-humble-package-a*.deb || (echo "Missing package_a" && exit 1) + test -f ./bloom-build/output/ros-humble-package-c*.deb || (echo "Missing package_c" && exit 1) + + test-whitelist-and-blacklist: + runs-on: ubuntu-22.04 + steps: + - name: Checkout Repository + uses: actions/checkout@v4 + + - name: Test combined whitelist and blacklist + uses: ./ + with: + ros_distro: humble + debian_distro: jammy + packages_dir: test + package_whitelist: '^.*/package_[abc]$' + package_blacklist: '^.*/package_c$' + artifact_name: bloom-test-whitelist-blacklist + + - name: Verify correct filtering + shell: bash + run: | + echo "Checking generated packages..." + ls -la ./bloom-build/output/ + + # Should have package_a and package_b + test -f ./bloom-build/output/ros-humble-package-a*.deb || (echo "Missing package_a" && exit 1) + test -f ./bloom-build/output/ros-humble-package-b*.deb || (echo "Missing package_b" && exit 1) + + # Should NOT have package_c, package_d, or package_test + ! ls ./bloom-build/output/ros-humble-package-c*.deb 2>/dev/null && echo "✓ No package_c (correct)" + ! ls ./bloom-build/output/ros-humble-package-d*.deb 2>/dev/null && echo "✓ No package_d (correct)" + ! ls ./bloom-build/output/ros-humble-package-test*.deb 2>/dev/null && echo "✓ No package_test (correct)" diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..128c5aa --- /dev/null +++ b/.gitignore @@ -0,0 +1,18 @@ +# Build artifacts +*.deb +*.ddeb +*.changes +*.dsc +*.tar.gz +*.buildinfo + +# IDE +.vscode/ +.idea/ +*.swp +*.swo +*~ + +# OS +.DS_Store +Thumbs.db diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..f2c9e71 --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,36 @@ +--- +repos: + # General-purpose sanity checks + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v5.0.0 + hooks: + - id: check-added-large-files + - id: check-case-conflict + - id: check-merge-conflict + - id: check-shebang-scripts-are-executable + - id: check-symlinks + - id: check-xml + - id: end-of-file-fixer + - id: mixed-line-ending + - id: trailing-whitespace + - id: check-yaml + + # Bash / Shell scripts + - repo: https://github.com/shellcheck-py/shellcheck-py + rev: v0.10.0.1 + hooks: + - id: shellcheck + + # Markdown linting + - repo: https://github.com/jackdewinter/pymarkdown + rev: v0.9.28 + hooks: + - id: pymarkdown + args: [-d, MD013, scan] + + # YAML linting + - repo: https://github.com/adrienverge/yamllint.git + rev: v1.35.1 + hooks: + - id: yamllint + args: [-d, '{extends: default, rules: {line-length: {max: 120}, document-start: disable}}'] diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..5f53fb2 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2023 WATonomous + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md index b8b8ec6..5403837 100644 --- a/README.md +++ b/README.md @@ -1 +1,115 @@ # bloom-release-ros + +A GitHub Action for automatically building and packaging ROS 2 packages into Debian packages using [bloom](https://wiki.ros.org/bloom). + +**IMPORTANT** This action does not support End of Life ROS distributions. + +## Features + +- Automatically discovers and builds all ROS 2 packages in your repository +- Filter packages using whitelist/blacklist regex patterns +- Supports ROS 2 (Humble, Jazzy, Kilted, Rolling) +- Outputs ready-to-deploy .deb files + +## Quick Start + +```yaml +name: Build ROS Packages + +on: + push: + branches: [ main ] + +jobs: + build: + runs-on: ubuntu-22.04 + steps: + - uses: actions/checkout@v4 + + - uses: watonomous/bloom-release-ros@v1 + with: + ros_distro: 'humble' + debian_distro: 'jammy' + packages_dir: '.' # Optional: directory to search for packages + package_whitelist: '.*' # Optional: regex to whitelist packages + package_blacklist: '' # Optional: regex to blacklist packages +``` + +Artifacts are automatically uploaded as `bloom-debian-packages-{distro}-{job}-{run_id}` and can be downloaded from the Actions tab. + +## Inputs + +| Input | Description | Required | Default | +|-------|-------------|----------|---------| +| `ros_distro` | ROS 2 distribution (humble, jazzy, kilted, rolling) | Yes | - | +| `debian_distro` | Debian/Ubuntu distribution (jammy, noble) | Yes | - | +| `packages_dir` | Directory to search for ROS packages | No | `.` | +| `package_whitelist` | Regex to whitelist package names | No | `.*` | +| `package_blacklist` | Regex to blacklist package names | No | `''` | +| `artifact_name` | Custom artifact name (avoids conflicts in parallel jobs) | No | `bloom-debian-packages-{distro}-{job}-{run_id}` | + +## Filtering Packages + +```yaml +# Build only packages starting with "myproject_" +package_whitelist: '^myproject_.*' + +# Exclude test packages +package_blacklist: '.*_test$' + +# Combine filters +package_whitelist: '^myproject_.*' +package_blacklist: '.*_(test|sim)$' +``` + +## Avoiding Artifact Conflicts + +When running multiple jobs in parallel with the same ROS distro, use custom artifact names: + +```yaml +jobs: + build-all: + runs-on: ubuntu-22.04 + steps: + - uses: actions/checkout@v4 + - uses: watonomous/bloom-release-ros@v1 + with: + ros_distro: humble + debian_distro: jammy + artifact_name: bloom-all-packages + + build-filtered: + runs-on: ubuntu-22.04 + steps: + - uses: actions/checkout@v4 + - uses: watonomous/bloom-release-ros@v1 + with: + ros_distro: humble + debian_distro: jammy + package_whitelist: '^myproject_.*' + artifact_name: bloom-myproject-packages +``` + +## How It Works + +1. Searches for all `package.xml` files in `packages_dir` +2. Filters packages using whitelist/blacklist patterns +3. Builds all packages together in a workspace using colcon (handles inter-package dependencies) +4. For each package: runs bloom-generate and builds .deb +5. Collects all .deb files into output directory + +## Requirements + +- Must checkout repository with `actions/checkout@v4` first +- Each package needs valid `package.xml` +- Dependencies should be available via apt or rosdep + +## Troubleshooting + +**Bloom generation fails**: Ensure `package.xml` has all required fields (name, version, description, maintainer, license) + +**Build dependencies not found**: Ensure all dependencies are properly declared in `package.xml` and available via rosdep + +## License + +Apache 2.0 License - see [LICENSE](LICENSE) diff --git a/action.yml b/action.yml new file mode 100644 index 0000000..25db592 --- /dev/null +++ b/action.yml @@ -0,0 +1,85 @@ +name: 'ROS 2 Bloom Release' +description: 'Build and package ROS 2 packages into Debian packages using bloom' +author: 'WATonomous' + +branding: + icon: 'package' + color: 'blue' + +inputs: + ros_distro: + description: 'ROS 2 distribution (humble, jazzy, kilted, rolling)' + required: true + packages_dir: + description: 'Directory to search for ROS 2 packages' + required: false + default: '.' + package_whitelist: + description: 'Regex pattern to whitelist package names. Default: all packages' + required: false + default: '.*' + package_blacklist: + description: 'Regex pattern to blacklist package names. Default: none' + required: false + default: '' + debian_distro: + description: 'Debian/Ubuntu distribution (jammy, noble)' + required: true + artifact_name: + description: 'Custom artifact name. Default: bloom-debian-packages-{ros_distro}-{job}-{run_id}' + required: false + default: '' + +runs: + using: 'composite' + steps: + - name: Setup ROS environment + uses: ros-tooling/setup-ros@v0.7 + with: + required-ros-distributions: ${{ inputs.ros_distro }} + + - name: Install bloom and build dependencies + shell: bash + run: | + echo "Installing bloom and build dependencies..." + sudo apt-get update + sudo apt-get install -y \ + python3-bloom \ + python3-colcon-common-extensions \ + build-essential \ + debhelper \ + devscripts \ + fakeroot \ + dh-python + + - name: Build Debian packages + id: build + shell: bash + env: + ROS_DISTRO: ${{ inputs.ros_distro }} + PACKAGES_DIR: ${{ inputs.packages_dir }} + PACKAGE_WHITELIST: ${{ inputs.package_whitelist }} + PACKAGE_BLACKLIST: ${{ inputs.package_blacklist }} + DEBIAN_DISTRO: ${{ inputs.debian_distro }} + run: | + ${{ github.action_path }}/scripts/build.sh + + - name: Set artifact name + id: artifact-name + shell: bash + run: | + if [ -n "${{ inputs.artifact_name }}" ]; then + echo "name=${{ inputs.artifact_name }}" >> $GITHUB_OUTPUT + else + DISTRO="${{ inputs.ros_distro }}" + JOB="${{ github.job }}" + RUN="${{ github.run_id }}" + echo "name=bloom-debian-packages-${DISTRO}-${JOB}-${RUN}" >> $GITHUB_OUTPUT + fi + + - name: Upload Debian packages + uses: actions/upload-artifact@v4 + with: + name: ${{ steps.artifact-name.outputs.name }} + path: ./bloom-build/output/*.deb + if-no-files-found: error diff --git a/scripts/build.sh b/scripts/build.sh new file mode 100755 index 0000000..e7f1c0f --- /dev/null +++ b/scripts/build.sh @@ -0,0 +1,311 @@ +#!/bin/bash + +set -e # Exit on error + +# ============================================================================ +# Logging +# ============================================================================ + +RED='\033[0;31m' +GREEN='\033[0;32m' +YELLOW='\033[1;33m' +BLUE='\033[0;34m' +NC='\033[0m' + +log_info() { + echo -e "${GREEN}[INFO]${NC} $1" +} + +log_warn() { + echo -e "${YELLOW}[WARN]${NC} $1" +} + +log_error() { + echo -e "${RED}[ERROR]${NC} $1" +} + +log_section() { + echo -e "\n${BLUE}========================================${NC}" + echo -e "${BLUE}$1${NC}" + echo -e "${BLUE}========================================${NC}\n" +} + +# ============================================================================ +# Package Discovery +# ============================================================================ + +discover_packages() { + local search_dir="$1" + local whitelist="$2" + local blacklist="$3" + + log_info "Discovering ROS packages in: $search_dir" + + local package_xml_files + package_xml_files=$(find "$search_dir" -name "package.xml" -type f) + + if [ -z "$package_xml_files" ]; then + log_error "No ROS packages found in $search_dir" + exit 1 + fi + + PACKAGE_PATHS=() + + for package_xml in $package_xml_files; do + local package_dir + package_dir=$(dirname "$package_xml") + + # Apply whitelist filter on directory path + if ! echo "$package_dir" | grep -qE "$whitelist"; then + log_info "Package at '$package_dir' excluded by whitelist" + continue + fi + + # Apply blacklist filter on directory path + if [ -n "$blacklist" ] && echo "$package_dir" | grep -qE "$blacklist"; then + log_info "Package at '$package_dir' excluded by blacklist" + continue + fi + + log_info "Found package at: $package_dir" + PACKAGE_PATHS+=("$package_dir") + done + + if [ ${#PACKAGE_PATHS[@]} -eq 0 ]; then + log_error "No packages matched the whitelist/blacklist filters" + exit 1 + fi +} + +# ============================================================================ +# Workspace Build +# ============================================================================ + +build_workspace() { + log_section "Building workspace with all packages" + + local workspace_src="$WORKSPACE/workspace/src" + mkdir -p "$workspace_src" + + # Copy all packages into workspace + log_info "Copying packages into workspace..." + for source_dir in "${PACKAGE_PATHS[@]}"; do + local pkg_name + pkg_name=$(basename "$source_dir") + log_info " - $pkg_name" + cp -r "$source_dir" "$workspace_src/$pkg_name" + done + + cd "$WORKSPACE/workspace" + + # Install all dependencies + log_info "Installing workspace dependencies..." + rosdep install --from-paths src --ignore-src -y -r --rosdistro "$ROS_DISTRO" 2>&1 || { + log_warn "Some dependencies could not be installed, continuing..." + } + + # Build workspace with colcon (ROS2) + log_info "Building workspace with colcon..." + # shellcheck disable=SC1090 + source /opt/ros/"$ROS_DISTRO"/setup.bash + if ! colcon build --symlink-install 2>&1; then + log_error "Workspace build failed" + return 1 + fi + # shellcheck disable=SC1091 + source install/setup.bash + + log_info "Workspace built successfully" + return 0 +} + +# ============================================================================ +# Single Package Bloom +# ============================================================================ + +bloom_package() { + local source_dir="$1" + local index="$2" + local total="$3" + + log_section "Generating debian for package $index/$total" + + local pkg_name + pkg_name=$(basename "$source_dir") + log_info "Package: $pkg_name" + + # Create bloom workspace for this package + local bloom_dir="$WORKSPACE/bloom/$pkg_name" + mkdir -p "$bloom_dir" + cd "$bloom_dir" + + # Initialize git repo with package source + git init -q + cp -r "$source_dir"/* . + + # Generate debian files + log_info "Generating debian files with bloom..." + if ! bloom-generate rosdebian \ + --os-name ubuntu \ + --os-version "$DEBIAN_DISTRO" \ + --ros-distro "$ROS_DISTRO" 2>&1; then + log_error "Bloom generation failed" + return 1 + fi + + # Build debian package + log_info "Building debian package..." + if [ ! -d "debian" ]; then + log_error "Debian directory not found" + return 1 + fi + + if ! fakeroot debian/rules binary 2>&1; then + log_error "Debian build failed" + return 1 + fi + + # Collect .deb files + local deb_files + deb_files=$(find "$WORKSPACE/bloom" -maxdepth 2 -name "*.deb" -type f) + + if [ -z "$deb_files" ]; then + log_error "No debian packages were generated" + return 1 + fi + + log_info "Collecting debian packages..." + for deb in $deb_files; do + cp "$deb" "$OUTPUT_DIR/" + log_info "Generated: $(basename "$deb")" + done + + log_info "Successfully generated debian for $pkg_name" + return 0 +} + +# ============================================================================ +# Main +# ============================================================================ + +main() { + # Validate environment + if [ -z "$ROS_DISTRO" ] || [ -z "$DEBIAN_DISTRO" ]; then + log_error "Missing required environment variables" + log_error "Required: ROS_DISTRO, DEBIAN_DISTRO" + exit 1 + fi + + # Set defaults + PACKAGES_DIR="${PACKAGES_DIR:-.}" + PACKAGE_WHITELIST="${PACKAGE_WHITELIST:-.*}" + PACKAGE_BLACKLIST="${PACKAGE_BLACKLIST:-}" + WORKING_DIR="./bloom-build" + + log_section "ROS Bloom Release - Multi-Package Build" + log_info "ROS Distro: $ROS_DISTRO" + log_info "Debian Distro: $DEBIAN_DISTRO" + log_info "Packages Directory: $PACKAGES_DIR" + log_info "Whitelist Pattern: $PACKAGE_WHITELIST" + log_info "Blacklist Pattern: $PACKAGE_BLACKLIST" + + # Setup paths + ORIGINAL_DIR="$(pwd)" + WORKSPACE="$ORIGINAL_DIR/$WORKING_DIR" + OUTPUT_DIR="$WORKSPACE/output" + mkdir -p "$WORKSPACE" "$OUTPUT_DIR" + + log_info "Working directory: $WORKSPACE" + + # Resolve search directory + if [[ "$PACKAGES_DIR" = /* ]]; then + SEARCH_DIR="$PACKAGES_DIR" + else + SEARCH_DIR="$ORIGINAL_DIR/$PACKAGES_DIR" + fi + + if [ ! -d "$SEARCH_DIR" ]; then + log_error "Package search directory not found: $SEARCH_DIR" + exit 1 + fi + + # Discover packages + discover_packages "$SEARCH_DIR" "$PACKAGE_WHITELIST" "$PACKAGE_BLACKLIST" + + log_section "Processing ${#PACKAGE_PATHS[@]} package(s)" + + # Setup git for bloom (only used for scripting, does not appear in debian) + git config --global user.name "Bloom Release Bot" + git config --global user.email "bloom@github-actions" + + # Initialize rosdep + log_info "Initializing rosdep..." + sudo rosdep init 2>&1 || log_warn "rosdep already initialized" + + log_info "Updating rosdep..." + if ! rosdep update 2>&1; then + log_error "rosdep update failed" + exit 1 + fi + + log_info "Verifying rosdep sources..." + if [ ! -f "/etc/ros/rosdep/sources.list.d/20-default.list" ]; then + log_error "rosdep sources not found after initialization" + exit 1 + fi + + # Build workspace with all packages together + if ! build_workspace; then + log_error "Workspace build failed" + exit 1 + fi + + # Source the built workspace for bloom to use + log_info "Sourcing built workspace..." + # shellcheck disable=SC1091 + source "$WORKSPACE/workspace/install/setup.bash" + + # Generate debian packages for each package + local bloom_success=0 + local bloom_failed=0 + + for i in "${!PACKAGE_PATHS[@]}"; do + local source_dir="${PACKAGE_PATHS[$i]}" + + if bloom_package "$source_dir" "$((i+1))" "${#PACKAGE_PATHS[@]}"; then + bloom_success=$((bloom_success + 1)) + else + bloom_failed=$((bloom_failed + 1)) + fi + done + + # Summary + log_section "Build Summary" + log_info "Total packages: ${#PACKAGE_PATHS[@]}" + log_info "Successful: $bloom_success" + log_info "Failed: $bloom_failed" + + # Check for output + local all_deb_files + all_deb_files=$(find "$OUTPUT_DIR" -name "*.deb" -type f) + + if [ -z "$all_deb_files" ]; then + log_error "No debian packages were generated!" + exit 1 + fi + + log_section "Generated Debian Packages" + while IFS= read -r deb; do + log_info " - $(basename "$deb")" + done < <(find "$OUTPUT_DIR" -name "*.deb" -type f) + + if [ $bloom_failed -gt 0 ]; then + log_warn "Some packages failed to build" + exit 1 + fi + + log_info "All builds completed successfully!" +} + +# Run main +main diff --git a/test/package_a/CMakeLists.txt b/test/package_a/CMakeLists.txt new file mode 100644 index 0000000..9274483 --- /dev/null +++ b/test/package_a/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 3.8) +project(package_a) + +find_package(ament_cmake REQUIRED) + +ament_package() diff --git a/test/package_a/package.xml b/test/package_a/package.xml new file mode 100644 index 0000000..c1afda7 --- /dev/null +++ b/test/package_a/package.xml @@ -0,0 +1,14 @@ + + + package_a + 1.0.0 + Test package A + Test User + MIT + + ament_cmake + + + ament_cmake + + diff --git a/test/package_b/CMakeLists.txt b/test/package_b/CMakeLists.txt new file mode 100644 index 0000000..673231b --- /dev/null +++ b/test/package_b/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 3.8) +project(package_b) + +find_package(ament_cmake REQUIRED) + +ament_package() diff --git a/test/package_b/package.xml b/test/package_b/package.xml new file mode 100644 index 0000000..fe69ff5 --- /dev/null +++ b/test/package_b/package.xml @@ -0,0 +1,14 @@ + + + package_b + 2.0.0 + Test package B + Test User + Apache-2.0 + + ament_cmake + + + ament_cmake + + diff --git a/test/package_c/CMakeLists.txt b/test/package_c/CMakeLists.txt new file mode 100644 index 0000000..d605f88 --- /dev/null +++ b/test/package_c/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 3.8) +project(package_c) + +find_package(ament_cmake REQUIRED) + +ament_package() diff --git a/test/package_c/package.xml b/test/package_c/package.xml new file mode 100644 index 0000000..8847c7c --- /dev/null +++ b/test/package_c/package.xml @@ -0,0 +1,14 @@ + + + package_c + 3.0.0 + Test package C + Test User + MIT + + ament_cmake + + + ament_cmake + + diff --git a/test/package_d/CMakeLists.txt b/test/package_d/CMakeLists.txt new file mode 100644 index 0000000..5143c68 --- /dev/null +++ b/test/package_d/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 3.8) +project(package_d) + +find_package(ament_cmake REQUIRED) + +ament_package() diff --git a/test/package_d/package.xml b/test/package_d/package.xml new file mode 100644 index 0000000..a26a88f --- /dev/null +++ b/test/package_d/package.xml @@ -0,0 +1,14 @@ + + + package_d + 4.0.0 + Test package D + Test User + BSD + + ament_cmake + + + ament_cmake + + diff --git a/test/package_test/CMakeLists.txt b/test/package_test/CMakeLists.txt new file mode 100644 index 0000000..d7fa62d --- /dev/null +++ b/test/package_test/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 3.8) +project(package_test) + +find_package(ament_cmake REQUIRED) + +ament_package() diff --git a/test/package_test/package.xml b/test/package_test/package.xml new file mode 100644 index 0000000..f5115f7 --- /dev/null +++ b/test/package_test/package.xml @@ -0,0 +1,14 @@ + + + package_test + 0.1.0 + Test package for blacklist testing + Test User + MIT + + ament_cmake + + + ament_cmake + +