push ros2-master to ros2-development (#3543) #1393
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| 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 |