Add twist-stamper node so nav2 example works with humble #26
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| --- | |
| name: colcon build/test | |
| on: | |
| pull_request: | |
| push: | |
| branches: [humble] | |
| concurrency: | |
| group: ci-${{github.workflow}}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build-test: | |
| runs-on: ubuntu-22.04 | |
| container: ardupilot/ardupilot-dev-ros:latest | |
| strategy: | |
| fail-fast: false # don't cancel if a job from the matrix fails | |
| steps: | |
| # git checkout the PR | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| path: src/ardupilot_ros | |
| # https://ardupilot.org/dev/docs/ros2.html#installation-ubuntu | |
| - name: Pull in repos with vcs | |
| run: | | |
| cd src | |
| apt-get update | |
| DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y wget python3-pip | |
| wget --progress=dot:giga https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos | |
| vcs import --recursive --debug --shallow --skip-existing < ros2_gz.repos | |
| - name: Add Gazebo Apt Sources from packages.osrfoundation.org/gazebo | |
| run: | | |
| wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | |
| - name: Install rosdep dependencies | |
| shell: 'bash' | |
| run: | | |
| apt-get update | |
| DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y python3 | |
| # Rosdep sources for non-standard versions | |
| # https://gazebosim.org/docs/garden/ros_installation#using-an-specific-gazebo-version-with-ros-2 | |
| wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list | |
| rosdep update | |
| # Workaround for flake8 attribute error | |
| # https://github.com/ArduPilot/ardupilot/pull/24277#issuecomment-1632833433 | |
| python3 -m pip install flake8==3.7.9 | |
| source /opt/ros/humble/setup.bash | |
| export GZ_VERSION=harmonic | |
| rosdep install --from-paths src --ignore-src --default-yes --skip-keys "gz-sim7 gz-plugin2 gz-common5" | |
| - name: Install MAVProxy | |
| run: | | |
| # Install this specific version just to prevent rolling updates. | |
| # These are the latest available | |
| python3 -m pip install MAVProxy==1.8.67 | |
| - name: Install local pymavlink | |
| working-directory: ./src/ardupilot/modules/mavlink/pymavlink | |
| run: | | |
| pip install . -U --user | |
| - name: Build with colcon | |
| shell: 'bash' | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| export GZ_VERSION=harmonic | |
| colcon build --packages-up-to ardupilot_ros ardupilot_gz_bringup --cmake-args -DBUILD_TESTING=ON | |
| - name: Test with colcon | |
| shell: 'bash' | |
| run: | | |
| source install/setup.bash | |
| colcon test --packages-select ardupilot_ros --event-handlers=console_cohesion+ | |
| - name: Report colcon test results | |
| run: | | |
| colcon test-result --all --verbose |