Migrate rosbag tests to db3 and deflake align_depth #1387

Workflow file for this run

	name: CI

	# Controls when the workflow will run
	on:
	# Triggers the workflow on push or pull request events but only for the ros2-development branch
	push:
	branches:
	- ros2-development
	- ros2-master
	pull_request:
	branches:
	- ros2-development
	- ros2-master

	# Allows you to run this workflow manually from the Actions tab
	workflow_dispatch:

	permissions: read-all

	# A workflow run is made up of one or more jobs that can run sequentially or in parallel
	# This workflow contains a single job called "build"

	jobs:
	build:
	name: Build on ROS2 ${{ matrix.ros_distro }} and ${{ matrix.os }}
	runs-on: ${{ matrix.os }}
	container:
	image: ros:${{ matrix.ros_distro }}-ros-core
	env:
	ROS_DISTRO: ${{ matrix.ros_distro }}
	strategy:
	fail-fast: false
	matrix:
	ros_distro: [humble, jazzy, kilted]
	include:
	- ros_distro: 'kilted'
	os: ubuntu-24.04
	- ros_distro: 'jazzy'
	os: ubuntu-24.04
	- ros_distro: 'humble'
	os: ubuntu-22.04

	steps:

	- name: Install build tools
	run: \|
	apt-get update
	apt-get install -y python3-rosdep python3-colcon-common-extensions \
	git cmake build-essential libusb-1.0-0-dev sudo file
	rosdep init \|\| true
	rosdep update --rosdistro ${{ matrix.ros_distro }} --include-eol-distros

	- name: Setup ROS2 Workspace
	run: \|
	mkdir -p $GITHUB_WORKSPACE/ros2/src

	- uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
	with:
	path: 'ros2/src/realsense-ros'

	- name: Check Copyright & Line-Endings
	shell: bash
	run: \|
	cd $GITHUB_WORKSPACE/ros2/src/realsense-ros/scripts
	./pr_check.sh

	- name: Check package.xml dependency completeness
	shell: bash
	run: \|
	cd $GITHUB_WORKSPACE/ros2/src/realsense-ros/scripts
	./check_package_deps.sh $GITHUB_WORKSPACE/ros2/src/realsense-ros

	- name: Build librealsense2 from development branch
	run: \|
	cd /tmp
	git clone --depth 1 --branch development https://github.com/realsenseai/librealsense.git
	cd librealsense
	mkdir build && cd build
	cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false
	make -j$(nproc)
	make install
	ldconfig

	- name: Install declared dependencies only (strict, like build farm)
	shell: bash
	run: \|
	source /opt/ros/${ROS_DISTRO}/setup.bash
	cd $GITHUB_WORKSPACE/ros2
	echo "================= ROSDEP INSTALL ===================="
	rosdep install -i --reinstall --from-path src --rosdistro ${{ matrix.ros_distro }} --skip-keys=librealsense2 -y

	- name: Build RealSense ROS2 Wrapper from source
	shell: bash
	run: \|
	set -e

	# Source ROS environment
	source /opt/ros/${ROS_DISTRO}/setup.bash

	cd $GITHUB_WORKSPACE/ros2
	echo "================== COLCON BUILD ======================"
	# Enable 'BUILD_TOOLS' through cmake arguments. Since, this variable is available only in realsense2_camera package
	# and not in realsense2_camera_msgs and realsense2_description packages, to avoid warnings from these packages,
	# use '--no-warn-unused-cli'. Ref: https://cmake.org/cmake/help/v3.0/manual/cmake.1.html
	# Set PYTHONPATH to ensure CMake-spawned Python processes can find ament_package
	PYTHONPATH=/opt/ros/${ROS_DISTRO}/lib/python3/dist-packages:$PYTHONPATH \
	colcon build --symlink-install --merge-install --cmake-args '-DBUILD_TOOLS=ON' --no-warn-unused-cli

	## This step is commented out since we don't use rosbag files in "Run Tests" step below.
	## Please uncomment when "Run Tests" step is fixed to run all tests.
	#- name: Download Data For Tests
	# if: ${{ matrix.ros_distro != 'rolling'}}
	# run: \|
	# cd $GITHUB_WORKSPACE/ros2
	# bag_filename="https://realsenseai.com/rs-tests/TestData/outdoors_1color.bag";
	# wget $bag_filename -P "records/"
	# bag_filename="https://realsenseai.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag";
	# wget $bag_filename -P "records/"
	# sudo apt install ros-${{ matrix.ros_distro}}-launch-pytest

	- name: Install Packages For Humble/Jazzy/Kilted Tests
	shell: bash
	run: \|
	apt-get install -y python3-pip python3-venv
	# To avoid mixing of 'apt' provided packages and 'pip' provided packages, one way is to create virtual env
	# and manage python packages within it. Ref: https://peps.python.org/pep-0668/
	python3 -m venv .venv
	# Activate the virtual env such that following python related commands run within it.
	source .venv/bin/activate
	# numpy-quaternion needs numpy<2.0.0. Chose 1.26.4 as it is the lowest working version for ubuntu 24.04.
	pip3 install --force-reinstall numpy==1.26.4
	pip3 install numpy-quaternion tqdm pyyaml
	pip3 install typing_extensions
	pip3 install empy
	pip install lark-parser

	- name: Run Tests
	shell: bash
	run: \|
	source /opt/ros/${ROS_DISTRO}/setup.bash
	cd $GITHUB_WORKSPACE/ros2
	. install/local_setup.bash
	source $GITHUB_WORKSPACE/.venv/bin/activate
	python3 src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file

	# tf_ros_py are not avaialble
	# TODO: check when we can run integration tests on rolling
	- name: Run integration tests
	shell: bash
	run: \|
	source /opt/ros/${ROS_DISTRO}/setup.bash
	cd $GITHUB_WORKSPACE/ros2
	. install/local_setup.bash
	#export ROSBAG_FILE_PATH=$GITHUB_WORKSPACE/ros2/records/
	colcon test --merge-install --packages-select realsense2_camera --event-handlers console_direct+
	colcon test-result --all --test-result-base build/realsense2_camera/test_results/ --verbose

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Migrate rosbag tests to db3 and deflake align_depth #1387

Workflow file

Migrate rosbag tests to db3 and deflake align_depth #1387

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Workflow file for this run