push ros2-master to ros2-development (#3543) #25
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| name: CI - Rolling | |
| # ROS 2 Rolling CI for realsense2_camera (Ubuntu 26.04 Resolute) — split from | |
| # the main matrix in main.yml because Rolling currently needs a chain of | |
| # transitional workarounds that don't apply to the stable distros | |
| # (Humble/Iron/Jazzy/Kilted). | |
| # | |
| # Workarounds carried here (each will be reverted when its upstream gap closes; | |
| # see RSDSO-21626): | |
| # - Container override: ros:rolling-ros-core is still pinned to a Noble | |
| # Dockerfile in docker-library/official-images. Use lyrical-ros-core-resolute | |
| # instead, which IS Resolute-based. | |
| # - ROS_DISTRO=lyrical at runtime: the lyrical container ships | |
| # /opt/ros/lyrical/ (not /opt/ros/rolling/), so the initial source has to | |
| # target the prefix that actually exists. | |
| # - ros2-testing apt source: ros-rolling-* debs for resolute are only in | |
| # packages.ros.org/ros2-testing until the next stable sync. | |
| # - /opt/ros/rolling overlay: rosdep installs ros-rolling-* into | |
| # /opt/ros/rolling/; the build sources /opt/ros/lyrical/ AND overlays | |
| # /opt/ros/rolling/ so CMake finds tf2_ros, cv_bridge, etc. | |
| # - Integration tests skipped: topics time out under the chimera setup | |
| # (build/unit tests pass, integration tests don't); revisit when the | |
| # above gaps close. | |
| # | |
| # Fold back into main.yml (and delete this file) once ros:rolling-ros-core | |
| # is rebuilt on Resolute AND ros-rolling-* lands in the stable resolute apt | |
| # index AND rolling integration tests pass green here. | |
| on: | |
| push: | |
| branches: | |
| - ros2-development | |
| - ros2-master | |
| pull_request: | |
| branches: | |
| - ros2-development | |
| - ros2-master | |
| workflow_dispatch: | |
| permissions: | |
| contents: read | |
| jobs: | |
| build_rolling: | |
| name: Build on ROS2 rolling (ubuntu-26.04, lyrical-ros-core-resolute) | |
| runs-on: ubuntu-26.04 | |
| container: | |
| image: ros:lyrical-ros-core-resolute | |
| env: | |
| # Source /opt/ros/lyrical/ (the only ROS install present in the | |
| # lyrical-ros-core-resolute container). rosdep below installs | |
| # ros-rolling-* into /opt/ros/rolling/, which we overlay-source | |
| # in the build/test steps. | |
| ROS_DISTRO: lyrical | |
| steps: | |
| - name: Add ros2-testing apt source | |
| # ros-rolling-* debs for `resolute` are only in packages.ros.org/ros2-testing | |
| # until the next stable sync — see RSDSO-21626 gate B. The | |
| # ros2-testing-apt-source deb declares Conflicts: ros2-apt-source, | |
| # so we can't install it alongside the stable source already present in | |
| # the ros:* container. Instead, clone the existing apt-source file and | |
| # repoint its URI at ros2-testing so both repos are available in parallel. | |
| shell: bash | |
| run: | | |
| set -euo pipefail | |
| # -L follows symlinks: ros:lyrical-ros-core-resolute ships | |
| # /etc/apt/sources.list.d/ros2.sources as a symlink to | |
| # /usr/share/ros-apt-source/ros2.sources, which plain -type f rejects. | |
| src=$(find -L /etc/apt/sources.list.d -maxdepth 1 -type f \( -name 'ros2*.sources' -o -name 'ros2*.list' \) | head -n1) | |
| [ -n "$src" ] || { echo "ERROR: no existing ros2 apt source file found"; exit 1; } | |
| ext="${src##*.}" | |
| dst="/etc/apt/sources.list.d/ros2-testing.${ext}" | |
| cp "$src" "$dst" | |
| sed -i 's|/ros2/ubuntu|/ros2-testing/ubuntu|g' "$dst" | |
| cat "$dst" | |
| apt-get update | |
| - 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 rolling --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' | |
| persist-credentials: false | |
| - 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 $GITHUB_WORKSPACE/ros2 | |
| echo "================= ROSDEP INSTALL ====================" | |
| rosdep install -i --reinstall --from-path src --rosdistro rolling --skip-keys=librealsense2 -y | |
| - name: Build RealSense ROS2 Wrapper from source | |
| shell: bash | |
| run: | | |
| set -e | |
| # Source ROS environment (lyrical is what the container ships) | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| # Overlay /opt/ros/rolling/ — rosdep installed ros-rolling-* there. | |
| # Restore this step to a single source line when /opt/ros/rolling/ | |
| # ships in the container for ROS Rolling on Resolute. | |
| if [ -f "/opt/ros/rolling/setup.bash" ]; then | |
| source "/opt/ros/rolling/setup.bash" | |
| fi | |
| 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:$PYTHONPATH \ | |
| colcon build --symlink-install --merge-install --cmake-args '-DBUILD_TOOLS=ON' --no-warn-unused-cli | |
| - name: Install Packages For Tests | |
| shell: bash | |
| run: | | |
| apt-get install -y python3-pip python3-venv | |
| # To avoid mixing of 'apt' provided packages and 'pip' provided packages, one way is to create virtual env | |
| # and manage python packages within it. Ref: https://peps.python.org/pep-0668/ | |
| python3 -m venv .venv | |
| # Activate the virtual env such that following python related commands run within it. | |
| source .venv/bin/activate | |
| pip3 install --force-reinstall numpy==1.26.4 | |
| pip3 install numpy-quaternion tqdm pyyaml | |
| pip3 install typing_extensions | |
| pip3 install empy | |
| pip install lark-parser | |
| - name: Run Tests | |
| shell: bash | |
| run: | | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| if [ -f "/opt/ros/rolling/setup.bash" ]; then | |
| source "/opt/ros/rolling/setup.bash" | |
| fi | |
| 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 | |
| # Integration tests are intentionally not run here: under the chimera | |
| # rolling-on-lyrical-container setup they time out (topics never publish | |
| # data; build and unit tests pass). Likely caused by upstream rclcpp / | |
| # image_transport / rosbag2 churn during the Rolling-on-Resolute transition. | |
| # Re-enable once those settle and ros:rolling-ros-core-resolute is published. |