Add python pkg with cmake build #90
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| name: Generate and test packages | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| jobs: | |
| generate: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| include: | |
| - package_name: default_cpp_pkg | |
| template: cpp_pkg | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: component_cpp_pkg | |
| template: cpp_pkg | |
| is_component: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: lifecycle_cpp_pkg | |
| template: cpp_pkg | |
| is_lifecycle: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: service_cpp_pkg | |
| template: cpp_pkg | |
| has_service_server: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: action_cpp_pkg | |
| template: cpp_pkg | |
| has_action_server: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: timer_cpp_pkg | |
| template: cpp_pkg | |
| has_timer: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: no_params_cpp_pkg | |
| template: cpp_pkg | |
| has_params: false | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: startup_params_cpp_pkg | |
| template: cpp_pkg | |
| has_params: true | |
| has_startup_params: true | |
| has_reconfigurable_params: false | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: reconfigurable_params_cpp_pkg | |
| template: cpp_pkg | |
| has_params: true | |
| has_startup_params: false | |
| has_reconfigurable_params: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: no_launch_file_cpp_pkg | |
| template: cpp_pkg | |
| has_launch_file: false | |
| has_launch_tests: false | |
| auto_shutdown: true | |
| launch_file_type: py | |
| - package_name: all_cpp_pkg | |
| template: cpp_pkg | |
| is_component: true | |
| is_lifecycle: true | |
| has_params: true | |
| has_reconfigurable_params: true | |
| has_startup_params: true | |
| has_service_server: true | |
| has_action_server: true | |
| has_timer: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: default_python_pkg | |
| template: python_pkg | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: service_python_pkg | |
| template: python_pkg | |
| has_service_server: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: action_python_pkg | |
| template: python_pkg | |
| has_action_server: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: timer_python_pkg | |
| template: python_pkg | |
| has_timer: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: no_params_python_pkg | |
| template: python_pkg | |
| has_params: false | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: no_launch_file_python_pkg | |
| template: python_pkg | |
| has_launch_file: false | |
| has_launch_tests: false | |
| auto_shutdown: true | |
| - package_name: all_python_pkg | |
| template: python_pkg | |
| is_lifecycle: true | |
| has_service_server: true | |
| has_action_server: true | |
| has_timer: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| - package_name: msgs_pkg | |
| template: msgs_pkg | |
| - package_name: default_python_cmake_pkg | |
| template: python_cmake_pkg | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| use_venv: true | |
| - package_name: service_python_cmake_pkg | |
| template: python_cmake_pkg | |
| has_service_server: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| use_venv: true | |
| - package_name: action_python_cmake_pkg | |
| template: python_cmake_pkg | |
| has_action_server: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| use_venv: true | |
| - package_name: timer_python_cmake_pkg | |
| template: python_cmake_pkg | |
| has_timer: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| use_venv: true | |
| - package_name: no_params_python_cmake_pkg | |
| template: python_cmake_pkg | |
| has_params: false | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| use_venv: true | |
| - package_name: no_launch_file_python_cmake_pkg | |
| template: python_cmake_pkg | |
| has_launch_file: false | |
| has_launch_tests: false | |
| auto_shutdown: true | |
| use_venv: true | |
| - package_name: all_python_cmake_pkg | |
| template: python_cmake_pkg | |
| is_lifecycle: true | |
| has_service_server: true | |
| has_action_server: true | |
| has_timer: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| use_venv: true | |
| - package_name: all_python_cmake_pkg_no_venv | |
| template: python_cmake_pkg | |
| is_lifecycle: true | |
| has_service_server: true | |
| has_action_server: true | |
| has_timer: true | |
| auto_shutdown: true | |
| has_launch_file: true | |
| has_launch_tests: true | |
| launch_file_type: py | |
| use_venv: false | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.10" | |
| - name: Install dependencies | |
| run: | | |
| pip install "copier~=9.2.0" "jinja2-strcase~=0.0.2" | |
| - name: Configure git to run copier | |
| run: | | |
| git config --global user.name "dummy" | |
| git config --global user.email "[email protected]" | |
| - name: Generate packages | |
| run: | | |
| copier copy --trust --defaults \ | |
| -d template=${{ matrix.template }} \ | |
| -d auto_shutdown=${{ matrix.auto_shutdown }} \ | |
| -d package_name=${{ matrix.package_name }} \ | |
| $( [ "${{ matrix.is_component }}" = "true" ] && echo "-d is_component=true" ) \ | |
| $( [ "${{ matrix.is_lifecycle }}" = "true" ] && echo "-d is_lifecycle=true" ) \ | |
| $( [ "${{ matrix.has_service_server }}" = "true" ] && echo "-d has_service_server=true" ) \ | |
| $( [ "${{ matrix.has_action_server }}" = "true" ] && echo "-d has_action_server=true" ) \ | |
| $( [ "${{ matrix.has_timer }}" = "true" ] && echo "-d has_timer=true" ) \ | |
| $( [ "${{ matrix.has_params }}" = "true" ] && echo "-d has_params=true" ) \ | |
| $( [ "${{ matrix.has_launch_file }}" = "true" ] && echo "-d has_launch_file=true" ) \ | |
| $( [ "${{ matrix.has_launch_file }}" = "true" ] && echo "-d launch_file_type=${{ matrix.launch_file_type }}" ) \ | |
| $( [ "${{ matrix.use_venv }}" = "true" ] && echo "-d use_venv=${{ matrix.use_venv }}" ) \ | |
| $( [ "${{ matrix.has_launch_tests }}" = "true" -a "${{ matrix.has_launch_tests }}" = "true" ] && echo "-d has_startup_params=true -d has_reconfigurable_params=false" ) \ | |
| . packages | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ matrix.package_name }} | |
| path: "packages/${{ matrix.package_name }}*" | |
| build: | |
| if: (github.event_name != 'pull_request' && ! github.event.pull_request.head.repo.fork) || (github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork) | |
| runs-on: ubuntu-latest | |
| container: | |
| image: rwthika/ros2:jazzy | |
| needs: generate | |
| strategy: | |
| matrix: | |
| include: | |
| - package: default_cpp_pkg | |
| command: launch_test default_cpp_pkg/default_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: component_cpp_pkg | |
| command: launch_test component_cpp_pkg/component_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: lifecycle_cpp_pkg | |
| command: launch_test lifecycle_cpp_pkg/lifecycle_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: service_cpp_pkg | |
| command: launch_test service_cpp_pkg/service_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: action_cpp_pkg | |
| command: launch_test action_cpp_pkg/action_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: timer_cpp_pkg | |
| command: launch_test timer_cpp_pkg/timer_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: startup_params_cpp_pkg | |
| command: launch_test startup_params_cpp_pkg/startup_params_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: reconfigurable_params_cpp_pkg | |
| command: launch_test reconfigurable_params_cpp_pkg/reconfigurable_params_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: no_params_cpp_pkg | |
| command: launch_test no_params_cpp_pkg/no_params_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: no_launch_file_cpp_pkg | |
| command: ros2 run no_launch_file_cpp_pkg no_launch_file_cpp_pkg --ros-args -p param:=1.0 | |
| - package: all_cpp_pkg | |
| command: launch_test all_cpp_pkg/all_cpp_pkg/launch_tests/default_launch_test.launch.py | |
| - package: default_python_pkg | |
| command: launch_test default_python_pkg/default_python_pkg/launch_tests/default_launch_test.launch.py | |
| - package: service_python_pkg | |
| command: launch_test service_python_pkg/service_python_pkg/launch_tests/default_launch_test.launch.py | |
| - package: action_python_pkg | |
| command: launch_test action_python_pkg/action_python_pkg/launch_tests/default_launch_test.launch.py | |
| - package: timer_python_pkg | |
| command: launch_test timer_python_pkg/timer_python_pkg/launch_tests/default_launch_test.launch.py | |
| - package: no_params_python_pkg | |
| command: launch_test no_params_python_pkg/no_params_python_pkg/launch_tests/default_launch_test.launch.py | |
| - package: no_launch_file_python_pkg | |
| command: ros2 run no_launch_file_python_pkg no_launch_file_python_pkg --ros-args -p param:=1.0 | |
| - package: all_python_pkg | |
| command: launch_test all_python_pkg/all_python_pkg/launch_tests/default_launch_test.launch.py | |
| - package: default_python_cmake_pkg | |
| command: launch_test default_python_cmake_pkg/default_python_cmake_pkg/launch_tests/default_launch_test.launch.py | |
| - package: service_python_cmake_pkg | |
| command: launch_test service_python_cmake_pkg/service_python_cmake_pkg/launch_tests/default_launch_test.launch.py | |
| - package: action_python_cmake_pkg | |
| command: launch_test action_python_cmake_pkg/action_python_cmake_pkg/launch_tests/default_launch_test.launch.py | |
| - package: timer_python_cmake_pkg | |
| command: launch_test timer_python_cmake_pkg/timer_python_cmake_pkg/launch_tests/default_launch_test.launch.py | |
| - package: no_params_python_cmake_pkg | |
| command: launch_test no_params_python_cmake_pkg/no_params_python_cmake_pkg/launch_tests/default_launch_test.launch.py | |
| - package: no_launch_file_python_cmake_pkg | |
| command: ros2 run no_launch_file_python_cmake_pkg no_launch_file_python_cmake_pkg.py --ros-args -p param:=1.0 | |
| - package: all_python_cmake_pkg | |
| command: launch_test all_python_cmake_pkg/all_python_cmake_pkg/launch_tests/default_launch_test.launch.py | |
| - package: msgs_pkg | |
| command: | | |
| ros2 interface show msgs_pkg/msg/Message && \ | |
| ros2 interface show msgs_pkg/srv/Service && \ | |
| ros2 interface show msgs_pkg/action/Action | |
| steps: | |
| - name: Download artifacts | |
| uses: actions/download-artifact@v4 | |
| - uses: actions/checkout@v4 | |
| with: | |
| repository: tu-darmstadt-ros-pkg/hector_ros2_utils | |
| path: src/hector_ros2_utils | |
| - uses: actions/checkout@v4 | |
| with: | |
| repository: tu-darmstadt-ros-pkg/ros2_venv_utility | |
| path: src/ros2_venv_utils | |
| - name: Build | |
| shell: bash | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-up-to ${{ matrix.package }} --ament-cmake-args -DSKIP_VENV=OFF | |
| - name: Run | |
| shell: bash | |
| run: | | |
| source install/setup.bash | |
| ${{ matrix.command }} | |
| build_isolated_venv_with_dependencies: | |
| if: (github.event_name != 'pull_request' && ! github.event.pull_request.head.repo.fork) || (github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork) | |
| runs-on: ubuntu-latest | |
| container: | |
| image: rwthika/ros2:jazzy | |
| needs: generate | |
| strategy: | |
| matrix: | |
| include: | |
| - package: all_python_cmake_pkg | |
| command: launch_test all_python_cmake_pkg/all_python_cmake_pkg/launch_tests/default_launch_test.launch.py | |
| steps: | |
| - name: Download artifacts | |
| uses: actions/download-artifact@v4 | |
| - uses: actions/checkout@v4 | |
| with: | |
| repository: tu-darmstadt-ros-pkg/hector_ros2_utils | |
| path: src/hector_ros2_utils | |
| - uses: actions/checkout@v4 | |
| with: | |
| repository: tu-darmstadt-ros-pkg/ros2_venv_utility | |
| path: src/ros2_venv_utils | |
| - name: Build | |
| shell: bash | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| echo "numpy" >> ${{ matrix.package }}/requirements.txt | |
| colcon build --packages-up-to ${{ matrix.package }} --ament-cmake-args -DSKIP_VENV=OFF -DISOLATED_VENV=ON | |
| - name: Run | |
| shell: bash | |
| run: | | |
| source install/setup.bash | |
| ${{ matrix.command }} | |
| - name: Test venv setup | |
| shell: bash | |
| run: | | |
| ls install/${{ matrix.package }}/venv/${{ matrix.package }}/bin | |
| source install/${{ matrix.package }}/venv/${{ matrix.package }}/bin/activate | |
| if python3 -c "import numpy" 2>/dev/null; then | |
| echo "numpy is available in the global python environment" | |
| exit 1 | |
| fi |