rclnet/.github/workflows/test.yml at db8e228d334d96b4898ce1f330d362bd57d08201 · noelex/rclnet · GitHub

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name: test
on:
  workflow_dispatch:
  pull_request:
    branches: [main, release/*]
jobs:
  ubuntu:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        ros_distribution:
          - foxy
          - humble
          - iron
          - jazzy
          - kilted
        include:
          - ros_distribution: foxy
            docker_image: ros:foxy-ros-base
          - ros_distribution: humble
            docker_image: ros:humble-ros-base
          - ros_distribution: iron
            docker_image: ros:iron-ros-base
          - ros_distribution: jazzy
            docker_image: ros:jazzy-ros-base
          - ros_distribution: kilted
            docker_image: ros:kilted-ros-base
    container:
      image: ${{ matrix.docker_image }}
    steps:
      - uses: actions/checkout@v3
        with:
          submodules: true

      - name: Install additional ROS dependencies
        run: |
          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
          # ros:foxy-ros-base is no longer being updated due to EOL of foxy.
          # We have to pull the new GPG key for ROS package repository manually.
          apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
          apt update
          apt install -y curl
          rosdep update --include-eol-distros
          rosdep install -i -y --from-paths src/Rcl.NET.Tests

      - name: Setup .NET 8.0
        uses: actions/setup-dotnet@v3
        with:
          dotnet-version: 8.0.x

      - name: Setup .NET 9.0
        uses: actions/setup-dotnet@v3
        with:
          dotnet-version: 9.0.x

      - name: Setup .NET 10.0
        uses: actions/setup-dotnet@v3
        with:
          dotnet-version: 10.0.x

      - name: Build
        working-directory: src/Rcl.NET.Tests
        run: |
          dotnet nuget locals all --clear
          dotnet build -c Release

      - name: Test (fastrtps)
        working-directory: src/Rcl.NET.Tests
        env:
          RMW_IMPLEMENTATION: rmw_fastrtps_cpp
          ROS_LOCALHOST_ONLY: 0
        run: |
          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh && \
          dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m

      - name: Test (cyclonedds)
        working-directory: src/Rcl.NET.Tests
        env:
          RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
          ROS_LOCALHOST_ONLY: 0
        run: |
          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh && \
          dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m

  windows:
    runs-on: windows-latest
    strategy:
      fail-fast: false
      matrix:
        ros_distribution:
          - foxy
          - humble
          - iron
          - jazzy
          - kilted
        include:
          - ros_distribution: kilted
            ros_archive: https://github.com/ros2/ros2/releases/download/release-kilted-20250728/ros2-kilted-20250728-windows-release-amd64.zip
            is_legacy_distro: false
          - ros_distribution: jazzy
            ros_archive: https://github.com/ros2/ros2/releases/download/release-jazzy-20250820/ros2-jazzy-20250820-windows-release-amd64.zip
            is_legacy_distro: false
          - ros_distribution: iron
            ros_archive: https://github.com/ros2/ros2/releases/download/release-iron-20241204/ros2-iron-20241204-windows-release-amd64.zip
            is_legacy_distro: true
          - ros_distribution: humble
            ros_archive: https://github.com/ros2/ros2/releases/download/release-humble-20241205/ros2-humble-20241205-windows-release-amd64.zip
            is_legacy_distro: true
          - ros_distribution: foxy
            ros_archive: https://github.com/ros2/ros2/releases/download/release-foxy-20230620/ros2-foxy-20230620-windows-release-amd64.zip
            is_legacy_distro: true
    steps:
      - uses: actions/checkout@v3
        with:
          submodules: true

      - name: Restore cached ROS installation
        id: ros-cache
        uses: actions/cache@v3
        with:
          path: c:/dev/${{ matrix.ros_distribution }}/
          key: ${{ matrix.ros_archive }}

      - name: Download and install ROS
        if: ${{ steps.ros-cache.outputs.cache-hit != 'true' }}
        run: |
          Invoke-WebRequest -Uri ${{ matrix.ros_archive }} -OutFile ros2-release.zip
          Expand-Archive -Path ros2-release.zip c:/dev/${{ matrix.ros_distribution }}

      - name: Install dependencies (Legacy)
        if: ${{ matrix.is_legacy_distro }}
        run: |
          reg add HKCU\SOFTWARE\Kitware\CMake /f
          Invoke-WebRequest -Uri https://github.com/ros2/choco-packages/releases/download/2022-03-15/tinyxml2.6.0.0.nupkg -OutFile tinyxml2.6.0.0.nupkg
          choco install --limit-output --no-progress -y -s . tinyxml2
          choco install --limit-output --no-progress -y openssl --version 1.1.1.2100

      - name: Install Pixi
        if: ${{ !matrix.is_legacy_distro }}
        run: |
          Set-ExecutionPolicy ByPass
          irm -useb https://pixi.sh/install.ps1 | iex

      - name: Restore cached Pixi dependencies
        if: ${{ !matrix.is_legacy_distro }}
        id: pixi-cache
        uses: actions/cache@v3
        with:
          path: c:/dev/pixi/
          key: pixi-${{ matrix.ros_distribution }}

      - name: Install dependencies
        if: ${{ !matrix.is_legacy_distro }}
        run: |
          mkdir c:/dev/pixi/
          cd c:/dev/pixi/
          irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/${{ matrix.ros_distribution }}/pixi.toml -OutFile pixi.toml
          $env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
          pixi install

      - name: Setup .NET 8.0
        uses: actions/setup-dotnet@v3
        with:
          dotnet-version: 8.0.x

      - name: Setup .NET 9.0
        uses: actions/setup-dotnet@v3
        with:
          dotnet-version: 9.0.x

      - name: Setup .NET 10.0
        uses: actions/setup-dotnet@v3
        with:
          dotnet-version: 10.0.x

      - name: Build
        working-directory: src/Rcl.NET.Tests
        run: |
          dotnet nuget locals all --clear
          dotnet build -c Release

      - name: Test (fastrtps) (Legacy)
        if: ${{ matrix.is_legacy_distro }}
        shell: cmd
        working-directory: src/Rcl.NET.Tests
        env:
          RMW_IMPLEMENTATION: rmw_fastrtps_cpp
          ROS_LOCALHOST_ONLY: 0
        run: |
          refreshenv && ^
          call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat && ^
          dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m

      - name: Test (cyclonedds) (Legacy)
        if: ${{ matrix.is_legacy_distro }}
        shell: cmd
        working-directory: src/Rcl.NET.Tests
        env:
          RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
          ROS_LOCALHOST_ONLY: 0
        run: |
          refreshenv && ^
          call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat && ^
          dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m

      - name: Test (fastrtps)
        if: ${{ !matrix.is_legacy_distro }}
        shell: cmd
        working-directory: src/Rcl.NET.Tests
        env:
          RMW_IMPLEMENTATION: rmw_fastrtps_cpp
          ROS_LOCALHOST_ONLY: 0
        run: |
          refreshenv && ^
          pixi run --manifest-path "c:/dev/pixi/" ^
          "c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat && ^
          dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m"

      - name: Test (cyclonedds)
        if: ${{ !matrix.is_legacy_distro }}
        shell: cmd
        working-directory: src/Rcl.NET.Tests
        env:
          RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
          ROS_LOCALHOST_ONLY: 0
        run: |
          refreshenv && ^
          pixi run --manifest-path "c:/dev/pixi/" ^
          "c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat && ^
          dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m"

  #test_macos:
  #  runs-on: macos-latest
  #  strategy:
  #    matrix:
  #      ros_distribution:
  #        - foxy
  #        - humble
  #  steps:
  #    - uses: actions/checkout@v2

  #    - name: Setup ROS environment
  #      uses: ros-tooling/setup-ros@v0.6
  #      with:
  #        required-ros-distributions: ${{ matrix.ros_distribution }}

  #    - name: Install additional ROS dependencies
  #      run: |
  #        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
  #        rosdep update
  #        rosdep install -i -y --from-paths src/Rcl.NET.Tests

  #    - name: Setup .NET 7.0
  #      uses: actions/setup-dotnet@v1
  #      with:
  #        dotnet-version: 7.0.x

  #    - name: Build
  #      working-directory: src/Rcl.NET.Tests
  #      run: |
  #        dotnet nuget locals all --clear
  #        dotnet build -c Release

  #    - name: Test (fastrtps)
  #      working-directory: src/Rcl.NET.Tests
  #      env:
  #        RMW_IMPLEMENTATION: rmw_fastrtps_cpp
  #      run: |
  #        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
  #        dotnet test -c Release --no-build --verbosity normal -p:ParallelizeTestCollections=false

  #    - name: Test (cyclonedds)
  #      working-directory: src/Rcl.NET.Tests
  #      env:
  #        RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
  #      run: |
  #        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
  #        dotnet test -c Release --no-build --verbosity normal -p:ParallelizeTestCollections=false