add humble CI #1
Workflow file for this run
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| name: 'Ubuntu 22.04 + ROS Humble: Build ' | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| - 'feature/humble-ci' | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - {name: 'Ubuntu 22.04 + ROS Humble: Build ', rosdistro: 'humble', container: 'osrf/ros:humble-desktop-full'} | |
| container: ${{ matrix.config.container }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup ccache | |
| shell: bash | |
| run: | | |
| apt update && apt install -y ccache | |
| export PATH="/usr/lib/ccache:$PATH" | |
| export CCACHE_DIR=$HOME/colcon_ws/ccache | |
| export CCACHE_STAMP=$(date +%Y-%m-%d_%H-%M-%S) | |
| echo "Updated PATH=$PATH" | |
| echo "Set CCACHE_DIR=$CCACHE_DIR" | |
| echo "Set CCACHE_STAMP=$CCACHE_STAMP" | |
| echo "CCACHE_DIR=$CCACHE_DIR" >> $GITHUB_ENV | |
| echo "CCACHE_STAMP=$CCACHE_STAMP" >> $GITHUB_ENV | |
| echo "PATH=$PATH" >> $GITHUB_ENV | |
| mkdir -p $CCACHE_DIR | |
| ccache --max-size=1G | |
| - name: Cache ccache files | |
| uses: actions/cache@v4 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ${{ matrix.config.name }}-ccache-${{ env.CCACHE_STAMP }} | |
| restore-keys: | | |
| ${{ matrix.config.name }}-ccache- | |
| - name: Install System Deps on Humble | |
| if: ${{ matrix.config.container == 'osrf/ros:humble-desktop-full' }} | |
| run: | | |
| sudo apt update | |
| sudo apt-get install -y python3-colcon-common-extensions python3-vcstool | |
| sudo apt-get install -y git build-essential cmake ninja-build \ | |
| libeigen3-dev libgoogle-glog-dev libtbb-dev libyaml-cpp-dev | |
| chmod +x $GITHUB_WORKSPACE/docker/scripts/install_ceres.sh | |
| sudo $GITHUB_WORKSPACE/docker/scripts/install_ceres.sh | |
| - name: Release Build Test | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| shell: bash | |
| run: | | |
| source /opt/ros/${{ matrix.config.rosdistro }}/setup.bash | |
| mkdir -p $HOME/colcon_ws/src | |
| cd $HOME/colcon_ws/src | |
| ln -s $GITHUB_WORKSPACE | |
| cd $HOME/colcon_ws | |
| colcon build \ | |
| --packages-up-to bievr_lio_ros2 \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo |