refactor/ros-no-ros #26
Workflow file for this run
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| name: CI | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| jobs: | |
| no-ros: | |
| name: ROS-independent Test | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Install Nix | |
| uses: cachix/install-nix-action@v27 | |
| with: | |
| nix_path: nixpkgs=channel:nixos-unstable | |
| extra_nix_config: | | |
| experimental-features = nix-command flakes | |
| accept-flake-config = true | |
| - name: Setup sccache | |
| if: env.ACT != 'true' | |
| uses: mozilla-actions/sccache-action@v0.0.9 | |
| - name: Check Nix formatting | |
| run: | | |
| nix fmt -- --check flake.nix | |
| - name: Check Markdown formatting | |
| run: | | |
| nix develop '.#noRos-ci' -c markdownlint '**/*.md' | |
| - name: Check Rust formatting | |
| run: | | |
| nix develop '.#noRos-ci' -c cargo fmt --all -- --check | |
| - name: Clippy (default workspace) | |
| run: | | |
| nix develop '.#noRos-ci' -c cargo clippy --lib --bins --tests -- -D warnings | |
| - name: Check default workspace | |
| run: | | |
| nix develop '.#noRos-ci' -c cargo check | |
| - name: Build default workspace | |
| run: | | |
| nix develop '.#noRos-ci' -c cargo build | |
| - name: Build examples without ROS dependencies | |
| run: | | |
| nix develop '.#noRos-ci' -c cargo build --example z_custom_message | |
| - name: Run tests | |
| run: | | |
| nix develop '.#noRos-ci' -c cargo test | |
| - name: Check ros-z-msgs with bundled messages (no ROS required) | |
| run: | | |
| nix develop '.#noRos-ci' -c cargo check -p ros-z-msgs | |
| nix develop '.#noRos-ci' -c cargo check -p ros-z-msgs --features bundled_msgs | |
| nix develop '.#noRos-ci' -c cargo check -p ros-z-msgs --features common_interfaces | |
| - name: Build ros-z-msgs with individual bundled packages | |
| run: | | |
| nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features std_msgs | |
| nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features geometry_msgs | |
| nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features sensor_msgs | |
| nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features nav_msgs | |
| with-ros: | |
| name: ROS-dependent Test (${{ matrix.distro }}) | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| distro: [jazzy] | |
| # distro: [jazzy, rolling] # Uncomment to test rolling when stable | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Install Nix | |
| uses: cachix/install-nix-action@v27 | |
| with: | |
| nix_path: nixpkgs=channel:nixos-unstable | |
| extra_nix_config: | | |
| experimental-features = nix-command flakes | |
| accept-flake-config = true | |
| extra-substituters = https://ros.cachix.org | |
| extra-trusted-public-keys = ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo= | |
| - name: Setup Cachix | |
| uses: cachix/cachix-action@v15 | |
| with: | |
| name: ros | |
| authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}' | |
| skipPush: true | |
| - name: Setup sccache | |
| if: env.ACT != 'true' | |
| uses: mozilla-actions/sccache-action@v0.0.9 | |
| - name: Check rcl-z | |
| run: | | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p rcl-z | |
| - name: Check ros-z-msgs (default bundled features) | |
| run: | | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs | |
| - name: Check ros-z-msgs with external messages | |
| run: | | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs --features external_msgs | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs --features example_interfaces | |
| - name: Check ros-z-msgs with all messages (bundled + external) | |
| run: | | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs --features all_msgs | |
| - name: Check with protobuf feature | |
| run: | | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z -p ros-z-msgs --features ros-z/protobuf,ros-z-msgs/protobuf | |
| - name: Check ros-z (with rcl-z feature) | |
| run: | | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z --features rcl-z | |
| - name: Build ROS message examples | |
| run: | | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo build -p ros-z-msgs | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example twist_pub | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example battery_state_sub | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example laser_scan | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example z_srvcli --features external_msgs | |
| - name: Build protobuf demo | |
| run: | | |
| nix develop '.#${{ matrix.distro }}-ci' -c cargo build -p protobuf_demo | |
| # FIXME: This requires the installation of rmw_zenoh_cpp triggering a build from source... | |
| # - name: Run unit tests | |
| # run: | | |
| # nix develop .#ci -c cargo test --all-features |