create #7
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| name: CI | |
| # Controls when the workflow will run | |
| on: | |
| # Triggers the workflow on push or pull request events but only for the ros2-development branch | |
| push: | |
| branches: | |
| - ros2-development | |
| pull_request: | |
| branches: | |
| - ros2-development | |
| # Allows you to run this workflow manually from the Actions tab | |
| workflow_dispatch: | |
| # A workflow run is made up of one or more jobs that can run sequentially or in parallel | |
| # This workflow contains a single job called "build" | |
| jobs: | |
| build: | |
| name: Build on ROS2 ${{ matrix.ros_distro }} and ${{ matrix.os }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distro: [rolling, iron, humble] | |
| include: | |
| - ros_distro: 'rolling' | |
| os: ubuntu-22.04 | |
| - ros_distro: 'iron' | |
| os: ubuntu-22.04 | |
| - ros_distro: 'humble' | |
| os: ubuntu-22.04 | |
| steps: | |
| - name: Setup ROS2 Workspace | |
| run: | | |
| mkdir -p ${{github.workspace}}/ros2/src | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: 'ros2/src/realsense-ros' | |
| - name: Check Copyright & Line-Endings | |
| shell: bash | |
| run: | | |
| cd ${{github.workspace}}/ros2/src/realsense-ros/scripts | |
| ./pr_check.sh | |
| - name: build ROS2 | |
| uses: ros-tooling/[email protected] | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distro }} | |
| - name: Build RealSense SDK 2.0 from source | |
| run: | | |
| cd ${{github.workspace}} | |
| git clone https://github.com/IntelRealSense/librealsense.git -b development | |
| cd librealsense | |
| sudo mkdir build | |
| cd build | |
| sudo cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false | |
| sudo make uninstall | |
| sudo make clean | |
| sudo make -j10 | |
| sudo make install | |
| - name: Build RealSense ROS2 Wrapper | |
| run: | | |
| echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc | |
| source ${{github.workspace}}/.bashrc | |
| cd ${{github.workspace}}/ros2 | |
| echo "================= ROSDEP UPDATE =====================" | |
| rosdep update --rosdistro ${{ matrix.ros_distro }} | |
| echo "================= ROSDEP INSTALL ====================" | |
| rosdep install -i --reinstall --from-path src --rosdistro ${{ matrix.ros_distro }} --skip-keys=librealsense2 -y | |
| echo "================== COLCON BUILD ======================" | |
| colcon build --cmake-args '-DBUILD_TOOLS=ON' | |
| ## This step is commented out since we don't use rosbag files in "Run Tests" step below. | |
| ## Please uncomment when "Run Tests" step is fixed to run all tests. | |
| #- name: Download Data For Tests | |
| # if: ${{ matrix.ros_distro != 'rolling'}} | |
| # run: | | |
| # cd ${{github.workspace}}/ros2 | |
| # bag_filename="https://librealsense.intel.com/rs-tests/TestData/outdoors_1color.bag"; | |
| # wget $bag_filename -P "records/" | |
| # bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag"; | |
| # wget $bag_filename -P "records/" | |
| # sudo apt install ros-${{ matrix.ros_distro}}-launch-pytest | |
| - name: Install Packages For Tests | |
| run: | | |
| sudo apt-get install python3-pip | |
| pip3 install numpy --upgrade | |
| pip3 install numpy-quaternion tqdm | |
| - name: Run Tests | |
| run: | | |
| cd ${{github.workspace}}/ros2 | |
| source ${{github.workspace}}/.bashrc | |
| . install/local_setup.bash | |
| python3 src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file | |
| - name: Run integration tests | |
| if: ${{ matrix.ros_distro != 'rolling'}} | |
| run: | | |
| cd ${{github.workspace}}/ros2 | |
| source ${{github.workspace}}/.bashrc | |
| . install/local_setup.bash | |
| #export ROSBAG_FILE_PATH=${{github.workspace}}/ros2/records/ | |
| colcon test --packages-select realsense2_camera --event-handlers console_direct+ | |
| colcon test-result --all --test-result-base build/realsense2_camera/test_results/ --verbose |