config.yml

on:
  push:
    branches:
      - master
  pull_request:

env:
  DISPLAY: ':0.0'

jobs:
  ros:
    runs-on: ubuntu-latest
    continue-on-error: false
    strategy:
      fail-fast: false
      matrix:
        include:
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04
            BEFORE_SCRIPT : "sudo pip install virtualenv==15.1.0"
            NOT_TEST_INSTALL: true
          - ROS_DISTRO: kinetic
            CONTAINER: ubuntu:16.04
            BEFORE_SCRIPT: "pip install --user matplotlib==2.2.5"
          - ROS_DISTRO: melodic
            CONTAINER: ubuntu:18.04
          - ROS_DISTRO: noetic
            CONTAINER: ubuntu:20.04
          - ROS_DISTRO: noetic
            CONTAINER: ubuntu:20.04
            BEFORE_SCRIPT: "pip3 install -U --user pyyaml"

    container:
      image: ${{ matrix.CONTAINER }}
      volumes:
        - /tmp/node20:/__e/node20

    steps:
      - name: Install latest git ( use sudo for ros-ubuntu )
        run: |
          [ -e /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ] && sudo rm /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ## fix Err https://esm.ubuntu.com trusty-infra-security/main amd64 Packages, gnutls_handshake() failed: Handshake failed
          (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 -E 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 /__w/_temp/_runner_file_commands/
             sudo chown -R $USER /__w/_temp/_runner_file_commands/
             # 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
        with:
          submodules: true

      - name: Cache Download Data
        uses: actions/cache@v3.0.4
        with:
          path: /github/home/.ros/data/jsk_rviz_plugins
          key: jsk_rviz_plugins

      - name: Start X server
        run: |
          if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi
          echo 'debconf debconf/frontend select Noninteractive' | sudo 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: Start X server (for 14.04)
        run: |
          if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then
            echo 'debconf debconf/frontend select Noninteractive' | sudo 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
            export DISPLAY=:0
            sudo apt-get install -y xvfb libxkbcommon-x11-0 libxcb-icccm4 libxcb-image0 libxcb-keysyms1 libxcb-randr0 libxcb-render-util0 libxcb-xinerama0 libxcb-xfixes0
            sudo apt-get install -y x11-xserver-utils  # for xhost
            sudo /usr/bin/Xvfb $DISPLAY -screen 0 1280x1024x24 &
            sleep 3 # wait x server up
            export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
            xhost +local:root
          fi
        shell: bash

      - name: Run jsk_travis
        uses: jsk-ros-pkg/jsk_travis@master
        with:
          ROS_PARALLEL_JOBS : "-j8"
          CATKIN_PARALLEL_JOBS : "-p8"
          ROS_PARALLEL_TEST_JOBS : "-j8"
          CATKIN_PARALLEL_TEST_JOBS : "-p8"
          BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}
          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
          USE_DEB :  ${{ matrix.USE_DEB }}
          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
          TEST_PKGS : ${{ matrix.TEST_PKGS }}
          EXTRA_DEB : ${{ matrix.EXTRA_DEB }}