rust-stable.yml

name: Rust Stable

on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]
  schedule:
    # Run the CI at 02:22 UTC every Tuesday
    # We pick an arbitrary time outside of most of the world's work hours
    # to minimize the likelihood of running alongside a heavy workload.
    - cron: '22 2 * * 2'

env:
  CARGO_TERM_COLOR: always

jobs:
  build:
    strategy:
      matrix:
        ros_distribution:
          - humble
          - jazzy
          - kilted
          - rolling
        include:
          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
            ros_distribution: humble
            ros_version: 2
          # Jazzy Jalisco (May 2024 - May 2029)
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
            ros_distribution: jazzy
            ros_version: 2
          # Kilted Kaiju (May 2025 - Dec 2026)
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-ros-base-latest
            ros_distribution: kilted
            ros_version: 2
          # Lyrical Luth (May 2026 - May 2031)
          - docker_image: rostooling/setup-ros-docker:ubuntu-resolute-ros-lyrical-ros-base-latest
            ros_distribution: lyrical
            ros_version: 2
          # Rolling Ridley  (June 2020 - Present)
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
            ros_distribution: rolling
            ros_version: 2
    runs-on: ubuntu-latest
    continue-on-error: ${{ matrix.ros_distribution == 'rolling' }}
    container:
      image: ${{ matrix.docker_image }}
    steps:
    - uses: actions/checkout@v4

    - name: Search packages in this repository
      id: list_packages
      run: |
        {
          echo 'package_list<<EOF'
          colcon list --names-only
          echo EOF
        } >> "$GITHUB_OUTPUT"

    - name: Setup ROS environment
      uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: ${{ matrix.ros_distribution }}
        use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}

    - name: Setup Rust
      uses: dtolnay/rust-toolchain@stable
      with:
        components: clippy, rustfmt

    # Colcon can not be run in a venv which is required in Ubuntu Noble
    # Removing the externally managed file
    - name: Install colcon-cargo and colcon-ros-cargo
      run: |
        sudo rm -f /usr/lib/python3.12/EXTERNALLY-MANAGED
        sudo rm -f /usr/lib/python3.14/EXTERNALLY-MANAGED
        sudo pip3 install git+https://github.com/colcon/colcon-cargo.git
        sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git

    # test_msgs recently added ament_mypy as a test dependency, but rosdep
    # may fail to install it when building from source on rolling
    - name: Install ament_cmake_mypy for rolling
      if: matrix.ros_distribution == 'rolling'
      run: |
        sudo apt-get update
        sudo apt-get install -y ros-rolling-ament-cmake-mypy

    - name: Check formatting of Rust packages
      run: |
        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
        cd $path
        rustup toolchain install nightly
        cargo +nightly fmt -- --check
        cd -
        done

    - name: Build and test
      id: build
      uses: ros-tooling/action-ros-ci@v0.4
      with:
        package-name: ${{ steps.list_packages.outputs.package_list }}
        target-ros2-distro: ${{ matrix.ros_distribution }}
        vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos

    - name: Run clippy on Rust packages
      run: |
        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
        cd $path
        echo "Running clippy in $path"
        # Run clippy for all features except use_ros_shim (needed for docs.rs)
        if [ "$(basename $path)" = "rclrs" ]; then
          cargo clippy --no-deps --all-targets -F default -- -D warnings
        else
          cargo clippy --no-deps --all-targets --all-features -- -D warnings
        fi
        cd -
        done

    - name: Run cargo test on Rust packages
      run: |
        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
        . install/setup.sh
        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
        cd $path
        echo "Running cargo test in $path"
        # Run cargo test for all features except use_ros_shim (needed for docs.rs)
        if [ "$(basename $path)" = "rclrs" ]; then
          cargo test -F default,serde
        else
          cargo test --all-features
        fi
        cd -
        done

    - name: Rustdoc check
      run: |
        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
        cd $path
        echo "Running rustdoc check in $path"
        cargo rustdoc -- -D warnings
        cd -
        done