Prototype: generic composite-option API for multi-param XU controls (HKR Temporal Filter DPP) #9
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| name: build_lrs_ROS2_package_rolling | |
| # Rolling Ridley CI (Ubuntu 26.04 Resolute) — split from the main ROS 2 | |
| # workflow because Rolling currently needs transitional workarounds that | |
| # don't apply to the stable distros (Humble/Kilted/Jazzy/Lyrical): | |
| # | |
| # - ros-rolling-* debs for `resolute` are still only in the `ros2-testing` | |
| # apt index; the stable `ros2` index has not synced yet. | |
| # - We use `ros2-testing-apt-source` (and `use-ros2-testing: true` for | |
| # setup-ros) until the sync lands on packages.ros.org/ros2. | |
| # | |
| # Fold back into build-ROS2-package-CI.yaml (and delete this file) once | |
| # ros-rolling-desktop is published in the stable resolute apt index | |
| # (packages.ros.org/ros2/dists/resolute). | |
| on: | |
| push: | |
| branches: ['**'] | |
| pull_request: | |
| branches: ['**'] | |
| permissions: | |
| contents: read | |
| jobs: | |
| build_lrs_ros2_package_rolling: | |
| runs-on: ubuntu-latest | |
| timeout-minutes: 45 | |
| container: | |
| image: ubuntu:resolute | |
| steps: | |
| - name: install ROS 2 apt source (ros2-testing) | |
| # 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 | |
| # the SHA-256 below so a tampered CDN can't be silently installed. | |
| # When bumping ROS_APT_SOURCE_VERSION, refresh the hash from: | |
| # 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 | |
| # Restore this line (and drop the ros2-testing-apt-source line below) | |
| # when ros-rolling-desktop is published in the stable resolute apt | |
| # index (packages.ros.org/ros2/dists/resolute). | |
| # pkg=ros2-apt-source | |
| pkg=ros2-testing-apt-source | |
| codename=resolute | |
| expected=da9261ca7c06244da1528e0ede44018f7bb2e24a8a077eb0202f70706b578546 | |
| 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: rolling | |
| # Restore to false (or remove) once rolling debs for resolute ship | |
| # in the stable ros2 apt index. | |
| use-ros2-testing: true | |
| - name: checkout repository | |
| uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd #v6.0.2 | |
| with: | |
| fetch-depth: 1 | |
| persist-credentials: false | |
| submodules: recursive | |
| - name: build librealsense ROS 2 | |
| uses: ros-tooling/action-ros-ci@3a640b10f09b756dabe556dac5413aba369f71b0 #v0.4.8 | |
| with: | |
| target-ros2-distro: rolling | |
| 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" | |
| ] | |
| } | |
| } |