config.yml

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/checkout@v3.0.2

      - 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/checkout@v3.0.2

      - 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) rosinstall_generator --rosdistro noetic --deps --exclude RPP --repos message_runtime message_generation | vcs import --shallow
          ROS_PACKAGE_PATH=/usr/share:$(pwd) 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/3rdparty-src
          cd ~/ws_depend/src/3rdparty-src
          ROS_PACKAGE_PATH=/usr/share rosinstall_generator --rosdistro noetic --from-path $GITHUB_WORKSPACE $HOME/ws_depend/src/ros-o --deps --deps-only --exclude RPP test_catkin_virtualenv test_catkin_virtualenv_inherited --depend-type buildtool build | tee repos
          export PATH=/github/home/.local/bin:$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
          ROS_PACKAGE_PATH=/usr/share:$HOME/ws_depend/src/ros-o rosinstall_generator --from-path $HOME/ws_depend/src/3rdparty-src --rosdistro noetic --deps --deps-only --exclude RPP test_catkin_virtualenv test_catkin_virtualenv_inherited | vcs import --shallow
          cd ~/ws_depend
          rosdep install -qq -r -y --from-path src --ignore-src || echo "OK"
          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/checkout@v3.0.2

      - 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