Remove now-unused config_file::is_empty() #47
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| name: build_lrs_ROS2_package | |
| on: | |
| push: | |
| branches: ['**'] | |
| pull_request: | |
| branches: ['**'] | |
| permissions: read-all | |
| jobs: | |
| build_lrs_ros2_package: | |
| runs-on: ubuntu-latest | |
| timeout-minutes: 45 | |
| strategy: | |
| # Lyrical can hit transient upstream availability issues during the | |
| # platform transition; don't cancel siblings if one row fails. | |
| fail-fast: false | |
| matrix: | |
| ros_distribution: | |
| - humble | |
| - kilted | |
| - jazzy | |
| - lyrical | |
| include: | |
| # Humble Hawksbill | |
| - docker_image: ubuntu:jammy | |
| ros_distribution: humble | |
| # Kilted Kaiju | |
| - docker_image: ubuntu:noble | |
| ros_distribution: kilted | |
| # Jazzy Jalisco | |
| - docker_image: ubuntu:noble | |
| ros_distribution: jazzy | |
| # Lyrical Luth | |
| - docker_image: ubuntu:resolute | |
| ros_distribution: lyrical | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - name: install ROS 2 apt source | |
| # Workaround: setup-ros resolves the ros-apt-source version via an | |
| # unauthenticated GitHub API call (60 req/hour per IP, shared across | |
| # hosted runners), which intermittently gets rate-limited and fails the | |
| # job with a 404. Pre-installing the package here makes setup-ros skip | |
| # that step. | |
| # Remove once fixed upstream (ros-tooling/setup-ros). | |
| shell: bash | |
| env: | |
| # Pin ros-apt-source to a known release; the .deb is verified against | |
| # a per-codename SHA-256 below so a tampered CDN can't be silently | |
| # installed. When bumping ROS_APT_SOURCE_VERSION, also update the | |
| # hashes from the new release assets: | |
| # https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/tags/<VERSION> | |
| # (each asset has a `digest: sha256:...` field). | |
| ROS_APT_SOURCE_VERSION: "1.2.0" | |
| run: | | |
| set -euo pipefail | |
| apt-get update && apt-get install -y --no-install-recommends curl ca-certificates | |
| codename=$(. /etc/os-release && echo "${UBUNTU_CODENAME:-$VERSION_CODENAME}") | |
| pkg=ros2-apt-source | |
| # Pinned SHA-256 per codename for ROS_APT_SOURCE_VERSION above. | |
| case "${codename}" in | |
| jammy) expected=767884cf4ed03116b9d64438930a832ed854147ae435279a7924dfdf60f94433 ;; | |
| noble) expected=0804d9b13db770eb87019be414cd78378835228ad5fa801fc88758596dd8f7e5 ;; | |
| resolute) expected=a275b9b819874e745a928e83e39c429fa4d607159285c4ef3ebcf75afa732ee3 ;; | |
| *) echo "ERROR: no pinned SHA-256 for ${pkg}_${codename} at v${ROS_APT_SOURCE_VERSION}"; exit 1 ;; | |
| esac | |
| deb="${pkg}_${ROS_APT_SOURCE_VERSION}.${codename}_all.deb" | |
| curl -fsSL --retry 5 --retry-delay 5 --retry-all-errors -o /tmp/ros2-apt-source.deb \ | |
| "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/${deb}" | |
| actual=$(sha256sum /tmp/ros2-apt-source.deb | awk '{print $1}') | |
| if [ "${actual}" != "${expected}" ]; then | |
| echo "ERROR: SHA-256 mismatch for ${deb}" | |
| echo " expected: ${expected}" | |
| echo " actual: ${actual}" | |
| exit 1 | |
| fi | |
| dpkg -i /tmp/ros2-apt-source.deb | |
| - name: setup ROS environment | |
| uses: ros-tooling/setup-ros@77bcad67a6cb15f6192d61464d99bbab658e4ca9 #v0.7.18 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distribution }} | |
| - name: build librealsense ROS 2 | |
| uses: ros-tooling/action-ros-ci@3a640b10f09b756dabe556dac5413aba369f71b0 #v0.4.8 | |
| with: | |
| target-ros2-distro: ${{ matrix.ros_distribution }} | |
| skip-tests: true | |
| colcon-defaults: | # We align the build flags to the librealsense2 ROS2 release build. | |
| { | |
| "build": { | |
| "cmake-args": [ | |
| "-DBUILD_GRAPHICAL_EXAMPLES=OFF", | |
| "-DBUILD_EXAMPLES=OFF" | |
| ] | |
| } | |
| } |