add CI

.github/workflows/ci.yaml

@@ -0,0 +1,72 @@
+name: CI
+
+on:
+  # Run if someone manually presses the button in the GitHub Actions UI
+  workflow_dispatch:
+  # Run when a PR is opened or updated
+  pull_request:
+  # Run when a commit is pushed to main
+  push:
+    branches:
+      - main
+
+permissions:
+  # Allow reading the source code
+  contents: read
+  # Allow writing built containers to GitHub Package Registry
+  packages: write
+
+jobs:
+  build-ws:
+    name: Build colcon workspace
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout source
+        uses: actions/checkout@v4
+
+      - name: Setup Docker Buildx
+        uses: docker/setup-buildx-action@v2
+
+        # Log into GitHub Container Registry so we can push an image
+      - name: Log in to GHCR
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      # Build the Dockerfile and push the image to the private GitHub Container Registry on this repo
+      - name: Build workspace
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          # run_id is unique to a particular run of this workflow so shouldn't clobber
+          tags: ghcr.io/picknikrobotics/fuse:${{ github.run_id }}
+          push: true
+          # This project is small enough that caching to GitHub Actions should be fine (it has a 10GB cache limit)
+          cache-to: type=gha,mode=max
+          cache-from: type=gha
+
+  test-ws:
+    name: Test colcon workspace
+    needs:
+      # Ensure the test job runs after the build job finishes instead of attempting to run in parallel
+      - build-ws
+    runs-on: ubuntu-24.04
+    container:
+      # Run on the Docker image we tagged and pushed to a private repo in the job above
+      image: ghcr.io/picknikrobotics/fuse:${{ github.run_id }}
+    steps:
+      - name: Unit test workspace
+        run: |
+          . /opt/ros/humble/setup.sh
+          . /colcon_ws/install/local_setup.sh
+          colcon test --event-handlers console_direct+ --retest-until-pass 3
+        working-directory: /colcon_ws
+
+      # `colcon test` does not actually error on failure - run `colcon test-result` to generate a summary and an error code.
+      - name: Display colcon test results
+        # Run this step even if a previous step failed
+        if: always()
+        run: colcon test-result --verbose
+        working-directory: /colcon_ws

.github/workflows/pre-commit.yml

@@ -0,0 +1,29 @@
+# see https://github.com/pre-commit/action
+
+name: pre-commit
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+      - name: Install clang-format-14
+        run: sudo apt-get install clang-format-14
+      - uses: pre-commit/[email protected]
+        id: precommit
+      - name: Upload pre-commit changes
+        if: failure() && steps.precommit.outcome == 'failure'
+        uses: rhaschke/upload-git-patch-action@main
+        with:
+          name: pre-commit

.github/workflows/ros2.yml

@@ -0,0 +1,15 @@
+name: ros2
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

.pre-commit-config.yaml

@@ -62,11 +62,6 @@ repos:
           - "-c"
           - "markdown-link-check-config.json"
 
-  - repo: https://github.com/hadolint/hadolint
-    rev: v2.12.0
-    hooks:
-      - id: hadolint-docker
-
   - repo: https://github.com/cheshirekow/cmake-format-precommit
     rev: v0.6.10
     hooks:

Dockerfile

@@ -0,0 +1,38 @@
+# Docker setup that's used for CI.
+
+FROM osrf/ros:rolling-desktop-full
+
+# Install external packages.
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get upgrade -y && \
+    apt-get install -y --no-install-recommends \
+      clang-tidy \
+      # use cyclonedds instead of fastdds
+      ros-humble-rmw-cyclonedds-cpp
+
+# Create the colcon ws. For now, copy the source files into the workspace
+# so that we don't have to deal with cloning this repo, which is private.
+WORKDIR /colcon_ws/src/fuse
+COPY . .
+WORKDIR /colcon_ws
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get upgrade -y && \
+    . /opt/ros/humble/setup.sh && \
+    rosdep install --from-paths src -y --ignore-src && \
+    colcon build --mixin compile-commands coverage-gcc coverage-pytest
+
+# Set up final environment and entrypoint.
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+ENV CYCLONEDDS_URI /root/.ros/cyclonedds.xml
+COPY dds/cyclonedds_local.xml $CYCLONEDDS_URI
+COPY .clang-tidy /colcon_ws
+COPY entrypoint.sh /
+ENTRYPOINT [ "/entrypoint.sh" ]
+RUN echo "source /entrypoint.sh" >> ~/.bashrc
+
+ENV SHELL /bin/bash
+CMD ["/bin/bash"]

entrypoint.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+source /opt/ros/humble/setup.bash
+
+if [ -f /colcon_ws/install/local_setup.bash ]
+then
+    source /colcon_ws/install/local_setup.bash
+fi
+
+exec "$@"