Add Toy example package and the skeleton of a simple example.

.github/workflows/simple.yaml

@@ -0,0 +1,46 @@
+name: Simple Build
+on:
+  push:
+    # Will trigger on MERGES (or pushes) to main branch.
+    branches:
+    - 'main'
+  pull_request:
+    # Will ALSO trigger any time a PR is opened merging to main.
+    # Specify '*' here to merge on PRs being opened against ANY branch.
+    branches:
+    - 'main'
+
+jobs:
+  # The name of the job is "build". All jobs run in SEPARATE containers, so
+  # they may run on separate machines and have the workspace wiped inbetween.
+  build:
+    # Run on a github-hosted runner. To specify our own, select:
+    # [self-hosted, linux] instead.
+    runs-on: ubuntu-latest
+    # This is the docker container that the image will run in. This is 20.04
+    # with ros-noetic-desktop meta-package.
+    container: osrf/ros:noetic-desktop
+    steps:
+    # Name is optional, uses: specify which ACTION is used (basically github
+    # macros). You can write your own! Use with: to specify extra parameters.
+    - name: Check out depository
+    - uses: actions/checkout@v3
+      with:
+        path: ${HOME}/catkin_ws/src/toy_example_package
+        submodules: recursive
+    #- name: Install catkin-tools on Noetic
+    #  run: |
+    #    apt update && apt install -y python3-pip
+    #    pip3 install osrf-pycommon
+    #    apt update && apt install -y python3-wstool python3-catkin-tools
+    - name: Build test
+      run: |
+        cd ${HOME}/catkin_ws
+        catkin init
+        catkin config --extend "/opt/ros/noetic"
+        catkin config --merge-devel
+        rosdep update
+        rosdep install --from-paths src --ignore-src -y --rosdistro noetic
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+        catkin build --continue toy_example_package
+     # shell: bash

README.md

@@ -1,2 +1,8 @@
 # asl-actions
-Github Actions for ASL
+Github Actions and documentation for ASL.
+
+## Getting Started
+First, you can start with the quick-start docs from GitHub: https://docs.github.com/en/actions/quickstart
+
+Then you can follow along with a few simple tutorial workflows.
+

action.yml → actions/delete-workspace/action.yml

@@ -5,3 +5,4 @@ description: 'Clean up the workspace state before and/or after running.'
 runs:
   using: 'docker'
   image: 'Dockerfile'
+

example_workflows/simple_catkin.yml

@@ -0,0 +1,57 @@
+name: Build and Test Catkin Package
+on:
+  push:
+    # Will trigger on MERGES (or pushes) to main branch.
+    branches:
+    - 'main'
+  pull_request:
+    # Will ALSO trigger any time a PR is opened merging to main.
+    # Specify '*' here to merge on PRs being opened against ANY branch.
+    branches:
+    - 'main'
+
+jobs:
+  # The name of the job is "build". All jobs run in SEPARATE containers, so
+  # they may run on separate machines and have the workspace wiped inbetween.
+  build:
+    # Run on a github-hosted runner. To specify our own, select:
+    # [self-hosted, linux] instead.
+    runs-on: ubuntu-latest
+    # This is the docker container that the image will run in. This is 20.04
+    # with ros-noetic-desktop meta-package.
+    container: osrf/ros:noetic-desktop
+    steps:
+    # Name is optional, uses: specify which ACTION is used (basically github
+    # macros). You can write your own! Use with: to specify extra parameters.
+    - name: Check out depository
+    - uses: actions/checkout@v3
+      with:
+        path: ${HOME}/catkin_ws/src/my_package_name
+        submodules: recursive
+    - name: Install catkin-tools on Noetic
+      run: |
+        apt update && apt install -y python3-pip
+        pip3 install osrf-pycommon
+        apt update && apt install -y python3-wstool python3-catkin-tools
+    - name: Install Dependencies
+      run: |
+        $GITHUB_WORKSPACE/install/prepare-jenkins-slave.sh
+      shell: bash
+    - name: Build test
+      working-directory:
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        apt update
+        apt install -y autoconf libtool git qt5-default
+        mkdir -p ${HOME}/catkin_ws/src;
+        cd ${HOME}/catkin_ws
+        catkin init
+        catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}"
+        catkin config --merge-devel
+        cd ${HOME}/catkin_ws
+        rosdep update
+        rosdep install --from-paths src --ignore-src -y --rosdistro noetic
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+        catkin build --continue my_package_name
+      shell: bash

toy_example_package/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(toy_example_package)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
+catkin_package(
+  CATKIN_DEPENDS std_msgs roscpp
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_executable(publisher_node src/publisher.cpp)
+add_dependencies(publisher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(publisher_node
+  ${catkin_LIBRARIES}
+)
+
+

toy_example_package/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>toy_example_package</name>
+  <version>0.0.0</version>
+  <description>Toy example package for Github Actions workflows.</description>
+
+  <maintainer email="[email protected]">Helen Oleynikova</maintainer>
+
+  <license>BSD</license>
+
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <export>
+  </export>
+</package>

toy_example_package/src/publisher.cpp

@@ -0,0 +1,36 @@
+#include <ros/ros.h>
+#include <std_msgs/String.h>
+
+#include <sstream>
+
+// All this code is from the publisher tutorial:
+// https://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
+int main(int argc, char **argv) {
+  ros::init(argc, argv, "toy_example_publisher");
+
+  ros::NodeHandle nh, nh_private("~");
+
+  ros::Publisher pub = nh_private.advertise<std_msgs::String>("hello", 1);
+
+  ros::Rate loop_rate(10);  // Hz
+
+  int count = 0;
+  while (ros::ok()) {
+    std_msgs::String msg;
+
+    std::stringstream ss;
+    ss << "hello world " << count;
+    msg.data = ss.str();
+
+    ROS_INFO("%s", msg.data.c_str());
+
+    pub.publish(msg);
+
+    ros::spinOnce();
+
+    loop_rate.sleep();
+    ++count;
+  }
+
+  return 0;
+}