Single-node dual MID360 driver: eliminate SDK race condition + logging/thread-safety fixes + unified livox CLI #14
Workflow file for this run
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| name: ros CI | |
| on: | |
| push: | |
| # you may want to configure the branches that this should be run on here. | |
| branches: [ "master" ] | |
| pull_request: | |
| jobs: | |
| test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions. | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: read | |
| strategy: | |
| matrix: | |
| ros_distribution: | |
| # - noetic | |
| - humble | |
| # - iron | |
| # Define the Docker image(s) associated with each ROS distribution. | |
| # The include syntax allows additional variables to be defined, like | |
| # docker_image in this case. See documentation: | |
| # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build | |
| # | |
| # Platforms are defined in REP 3 and REP 2000: | |
| # https://ros.org/reps/rep-0003.html | |
| # https://ros.org/reps/rep-2000.html | |
| include: | |
| # Noetic Ninjemys (May 2020 - May 2025) | |
| # - docker_image: ubuntu:focal | |
| # ros_distribution: noetic | |
| # ros_version: 1 | |
| # Humble Hawksbill (May 2022 - May 2027) | |
| - docker_image: ubuntu:jammy | |
| ros_distribution: humble | |
| ros_version: 2 | |
| # Iron Irwini (May 2023 - November 2024) | |
| # - docker_image: ubuntu:jammy | |
| # ros_distribution: iron | |
| # ros_version: 2 | |
| # # Rolling Ridley (No End-Of-Life) | |
| # - docker_image: ubuntu:jammy | |
| # ros_distribution: rolling | |
| # ros_version: 2 | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - uses: actions/checkout@v6 | |
| with: | |
| path: src/livox_ros_driver2 | |
| - name: setup ROS environment | |
| uses: ros-tooling/setup-ros@v0.7 | |
| - name: install build dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -y build-essential cmake | |
| - name: install Livox SDK2 | |
| run: | | |
| REPO_DIR="/tmp/livox_sdk2_repo" | |
| mkdir -p "$REPO_DIR" | |
| git clone --branch v1.2.5 --depth 1 https://github.com/Livox-SDK/Livox-SDK2.git "$REPO_DIR/Livox-SDK2" | |
| cd "$REPO_DIR/Livox-SDK2" | |
| mkdir -p build && cd build | |
| cmake .. | |
| make -j$(nproc) | |
| make install | |
| ldconfig | |
| rm -rf "$REPO_DIR" | |
| - name: build and test ROS 2 | |
| if: ${{ matrix.ros_version == 2 }} | |
| uses: ros-tooling/action-ros-ci@v0.3 | |
| with: | |
| import-token: ${{ github.token }} | |
| target-ros2-distro: ${{ matrix.ros_distribution }} | |
| skip-tests: true |