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Signed-off-by: Ryan Friedman <[email protected]>
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name: colcon build/test | ||
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on: | ||
pull_request: | ||
push: | ||
branches: [humble] | ||
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concurrency: | ||
group: ci-${{github.workflow}}-${{ github.ref }} | ||
cancel-in-progress: true | ||
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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: Install rosdep dependencies | ||
shell: 'bash' | ||
run: | | ||
apt-get update | ||
DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y python3 | ||
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 | ||
rosdep install --from-paths src --ignore-src --default-yes --skip-keys "gz-sim7 gz-cmake3 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 | ||
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 |