[ROS-O] enable ubuntu24.04 test #501
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| on: | ||
| push: | ||
| branches: | ||
| - master | ||
| pull_request: | ||
| env: | ||
| ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true | ||
| DISPLAY: ':0.0' | ||
| jobs: | ||
| ros: | ||
| runs-on: ubuntu-latest | ||
| # continue-on-error: ${{ matrix.experimental }} | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| include: | ||
| - ROS_DISTRO: indigo | ||
| CONTAINER: jskrobotics/ros-ubuntu:14.04 | ||
| ROS_PARALLEL_TEST_JOBS: "-j8" | ||
| # latest catkin_virtualenv with pip==21.0.1 is incompatible with python 2.x | ||
| # https://github.com/jsk-ros-pkg/jsk_3rdparty/pull/237 | ||
| BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0 setuptools==44.1.1" | ||
| - ROS_DISTRO: kinetic | ||
| CONTAINER: ubuntu:16.04 | ||
| ROS_PARALLEL_TEST_JOBS: "-j8" | ||
| - ROS_DISTRO: melodic | ||
| CONTAINER: ubuntu:18.04 | ||
| ROS_PARALLEL_TEST_JOBS: "-j8" | ||
| - ROS_DISTRO: noetic | ||
| CONTAINER: ubuntu:20.04 | ||
| ROS_PARALLEL_TEST_JOBS: "-j8" | ||
| - ROS_DISTRO: noetic | ||
| CONTAINER: ubuntu:20.04 | ||
| ROS_PARALLEL_TEST_JOBS: "-j8" | ||
| TEST_PKGS: virtual_force_publisher # skip test | ||
| CATKIN_TOOLS_BUILD_OPTIONS: "--cmake-args -DCMAKE_CXX_FLAGS=-std=c++11 -- --summarize --no-status" | ||
| NOT_TEST_INSTALL: true | ||
| BEFORE_SCRIPT : "find $GITHUB_WORKSPACE -iname image_view2 -exec touch {}/CATKIN_IGNORE \\;" | ||
| container: | ||
| image: ${{ matrix.CONTAINER }} | ||
| volumes: | ||
| - /tmp/node20:/__e/node20 | ||
| steps: | ||
| - name: Install latest git ( use sudo for ros-ubuntu ) | ||
| run: | | ||
| (apt-get update && apt-get install -y sudo) || echo "OK" | ||
| sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git | ||
| - name: work around permission issue # https://github.com/actions/checkout/issues/760#issuecomment-1097501613 | ||
| run: | | ||
| set -x | ||
| export USER=$(whoami) | ||
| if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then | ||
| git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok | ||
| sudo mkdir -p /__w/ | ||
| sudo chmod 777 -R /__w/ | ||
| sudo chown -R $USER $HOME | ||
| # sudo mkdir -p /home/runner/work/_temp/_github_workflow/ | ||
| # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/ | ||
| # ls -al /home/runner/work/_temp/_github_workflow/ | ||
| else | ||
| git config --global --add safe.directory $GITHUB_WORKSPACE | ||
| fi | ||
| - name: Try to replace `node` with an glibc 2.17 | ||
| shell: bash | ||
| run: | | ||
| if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then | ||
| export USER=$(whoami) | ||
| sudo chmod 777 -R /__e/node20 | ||
| sudo chown -R $USER /__e/node20 | ||
| fi | ||
| ls -lar /__e/node20 && | ||
| sudo apt-get install -y curl && | ||
| curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz && | ||
| cd /__e/node20 && | ||
| tar -x --strip-components=1 -f /tmp/node.tar.gz && | ||
| ls -lar /__e/node20/bin/ | ||
| - name: Chcekout | ||
| uses: actions/[email protected] | ||
| - name: Start X server | ||
| run: | | ||
| if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi | ||
| echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata | ||
| sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget | ||
| export DISPLAY=:0 | ||
| wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/dummy.xorg.conf -O /tmp/dummy.xorg.conf | ||
| sudo Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile /tmp/xorg.log -config /tmp/dummy.xorg.conf $DISPLAY & | ||
| sleep 3 # wait x server up | ||
| export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI | ||
| xhost +local:root | ||
| shell: bash | ||
| - name: Run jsk_travis | ||
| uses: jsk-ros-pkg/jsk_travis@master | ||
| with: | ||
| ROS_PARALLEL_JOBS : ${{ matrix.ROS_PARALLEL_JOBS }} | ||
| CATKIN_PARALLEL_JOBS : ${{ matrix.CATKIN_PARALLEL_JOBS }} | ||
| ROS_PARALLEL_TEST_JOBS : ${{ matrix.ROS_PARALLEL_TEST_JOBS }} | ||
| CATKIN_PARALLEL_TEST_JOBS : ${{ matrix.CATKIN_PARALLEL_TEST_JOBS }} | ||
| ROS_DISTRO : ${{ matrix.ROS_DISTRO }} | ||
| USE_DEB : ${{ matrix.USE_DEB }} | ||
| NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }} | ||
| TEST_PKGS : ${{ matrix.TEST_PKGS }} | ||
| BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }} | ||
| EXTRA_DEB : ${{ matrix.EXTRA_DEB }} | ||
| CATKIN_TOOLS_BUILD_OPTIONS: ${{ matrix.CATKIN_TOOLS_BUILD_OPTIONS }} | ||
| ubuntu: | ||
| runs-on: ubuntu-latest | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| include: | ||
| - DISTRO: ubuntu:22.04 | ||
| # - DISTRO: ubuntu:22.04 | ||
| # CATKIN_OPTIONS: "--ignore-pkg image_view2" | ||
| # CMAKE_OPTIONS: "-DCMAKE_CXX_FLAGS=-std=c++11" | ||
| - DISTRO: ubuntu:24.04 | ||
| container: ${{ matrix.DISTRO }} | ||
| steps: | ||
| - name: Chcekout Source | ||
| uses: actions/[email protected] | ||
| - name: Install Buildtools | ||
| run: | | ||
| set -x | ||
| echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections | ||
| apt update -q | ||
| ## | ||
| # https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28 | ||
| # Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow. | ||
| test "${{ matrix.DISTRO }}" = "ubuntu:24.04" && apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros | ||
| ## | ||
| apt install -y -q -qq catkin git curl build-essential libboost-all-dev python3-pip python3-venv python3-rosdep2 | ||
| test "${{ matrix.DISTRO }}" = "ubuntu:22.04" && apt install -y -q -qq ros-desktop-dev rosbash | ||
| test "${{ matrix.DISTRO }}" = "ubuntu:22.04" && apt install -y -q -qq libself-test-dev libpcl-ros-dev | ||
| test "${{ matrix.DISTRO }}" = "ubuntu:22.04" && apt install -y -q -qq ros-core-dev ros-robot-dev | ||
| test "${{ matrix.DISTRO }}" = "ubuntu:22.04" && pip install vcstool | ||
| test "${{ matrix.DISTRO }}" != "ubuntu:22.04" && apt install -y -q -qq pipx && pipx install vcstool | ||
| rosdep update | ||
| - name: Setup rosinstall_generator | ||
| run: | | ||
| set -x | ||
| # install rosinstall_geneartor with --depend-type buildtool build, see https://github.com/ros-infrastructure/rosinstall_generator/pull/81 | ||
| git clone https://github.com/k-okada/rosinstall_generator -b add_depend_type | ||
| cd rosinstall_generator | ||
| python3 ./setup.py install | ||
| - name: Setup 24.04 Dependencies Workspace | ||
| if: "${{ matrix.DISTRO }}" != "ubuntu:22.04" | ||
| run: | | ||
| set -x | ||
| # install dependencies | ||
| mkdir -p ~/ws_depend/src/ros-o | ||
| cd ~/ws_depend/src/ros-o | ||
| git clone https://github.com/ros-o/rosconsole.git | ||
| git clone https://github.com/ros-o/gencpp.git | ||
| git clone https://github.com/ros-o/ros_comm.git | ||
| git clone https://github.com/ros-o/catkin_virtualenv.git | ||
| git clone https://github.com/ros-o/perception_pcl.git | ||
| export PATH=/github/home/.local/bin:$PATH # for 24.04, vcs installed with pipx | ||
| ROS_PACKAGE_PATH=/usr/share:$(pwd)/src rosinstall_generator --rosdistro noetic --deps --exclude RPP --repos message_runtime message_generation | vcs import --shallow | ||
| ROS_PACKAGE_PATH=/usr/share:$(pwd)/src rosinstall_generator --rosdistro noetic rosbash | vcs import --shallow | ||
| - name: Setup 22.04 Dependencies Workspace | ||
| if: "${{ matrix.DISTRO }}" = "ubuntu:22.04" | ||
| run: | | ||
| set -x | ||
| # install dependencies | ||
| mkdir -p ~/ws_depend/src/ros-o | ||
| cd ~/ws_depend/src/ros-o | ||
| rosinstall_generator catkin_virtualenv --rosdistro noetic | vcs import --force | ||
| # Run catkin_run_tests_target only when CATKIN_ENABLE_TESTING is enabled #89 (https://github.com/locusrobotics/catkin_virtualenv/pull/89) | ||
| curl -s -L -O https://patch-diff.githubusercontent.com/raw/locusrobotics/catkin_virtualenv/pull/89.diff | ||
| patch -p1 < 89.diff | ||
| - name: Setup Dependencies Workspace | ||
| run: | | ||
| set -x | ||
| # install dependencies | ||
| mkdir -p ~/ws_depend/src | ||
| cd ~/ws_depend/src | ||
| ROS_PACKAGE_PATH=/usr/share rosinstall_generator --rosdistro noetic --from-path $GITHUB_WORKSPACE --deps --deps-only --exclude RPP test_catkin_virtualenv test_catkin_virtualenv_inherited --depend-type buildtool build | tee repos | ||
| export PATH=/github/home/.local/bin:$PATH # for 24.04, vcs installed with pipx | ||
| vcs import --shallow < repos | ||
| # override to use latest development for 22.04 | ||
| rosinstall_generator laser_filters laser_assembler map_server --rosdistro noetic --upstream-development | vcs import --force | ||
| rosdep install -qq -r -y --from-path . --ignore-src || echo "OK" | ||
| cd .. | ||
| catkin_make_isolated --cmake-args -DCATKIN_ENABLE_TESTING=OFF | ||
| - name: Setup Workspace | ||
| run: | | ||
| set -x | ||
| # hack! | ||
| apt install -y -q -qq python-is-python3 | ||
| # setup workspace | ||
| mkdir -p ~/ws_current/src | ||
| cd ~/ws_current/src | ||
| ln -sf $GITHUB_WORKSPACE . | ||
| rosdep install -qq -r -y --from-path . --ignore-src || echo "OK" | ||
| - name: Compile Packages | ||
| run: | | ||
| set -x | ||
| cd ~/ws_current/ | ||
| source ~/ws_depend/devel_isolated/setup.bash | ||
| catkin_make_isolated ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }} | ||
| shell: bash | ||
| # ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions | ||
| ros-o: | ||
| runs-on: ubuntu-latest | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| include: | ||
| - DISTRO: ubuntu:22.04 | ||
| ROS_REPOSITORY_URL: https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository | ||
| container: ${{ matrix.DISTRO }} | ||
| env: | ||
| DEBIAN_FRONTEND : noninteractive | ||
| steps: | ||
| - name: Chcekout Source | ||
| uses: actions/[email protected] | ||
| - name: Setup ROS-O deb repository | ||
| run: | | ||
| set -x | ||
| apt update && apt install -qq -y ca-certificates | ||
| echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list | ||
| ## | ||
| # https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28 | ||
| # Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow. | ||
| test "${{ matrix.DISTRO }}" = "ubuntu:24.04" && apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros | ||
| ## | ||
| apt update | ||
| apt install -qq -y python3-rosdep2 | ||
| echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list | ||
| rosdep update | ||
| - name: Setup catkin-tools | ||
| run: | | ||
| set -x | ||
| # setup catkin tools | ||
| apt install -qq -y python3-pip | ||
| pip3 install catkin-tools | ||
| # setup build tools | ||
| apt install -qq -y cmake build-essential catkin ros-one-rosbash | ||
| - name: Setup Workspace | ||
| run: | | ||
| source /opt/ros/one/setup.bash | ||
| set -x | ||
| # setup workspace | ||
| mkdir -p ~/ws/src | ||
| cd ~/ws/src | ||
| ln -sf $GITHUB_WORKSPACE . | ||
| rosdep install -qq -r -y --from-path . --ignore-src || echo "OK" | ||
| shell: bash | ||
| - name: Compile Packages | ||
| run: | | ||
| source /opt/ros/one/setup.bash | ||
| set -x | ||
| cd ~/ws/ | ||
| catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }} | ||
| shell: bash | ||
