CI for eProsima Integration Service #288
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| name: CI for eProsima Integration Service | |
| on: | |
| workflow_dispatch: | |
| push: | |
| branches: | |
| - main | |
| paths-ignore: | |
| - '**.md' | |
| - 'examples/basic/*' | |
| - 'examples/wan_tunneling/*' | |
| - 'docs/**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| paths-ignore: | |
| - '**.md' | |
| - 'examples/basic/*' | |
| - 'examples/wan_tunneling/*' | |
| - 'docs/**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| integration-service_CI: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| node: [foxy, galactic, humble] | |
| include: | |
| - os: ubuntu-20.04 | |
| - os: ubuntu-22.04 | |
| node: humble | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| path: src/integration-service | |
| - name: Download required dependencies | |
| run: | | |
| sudo apt update | |
| DEBIAN_FRONTEND=noninteractive sudo apt install -y curl git libboost-dev libboost-program-options-dev \ | |
| libyaml-cpp-dev libwebsocketpp-dev libssl-dev libcurlpp-dev libasio-dev libcurl4-openssl-dev | |
| - name: Download and install ROS 1 Noetic | |
| if: ${{ matrix.os == 'ubuntu-20.04' }} | |
| run: | | |
| # Note there are not Noetic binaries for jammy | |
| echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" \ | |
| | sudo tee /etc/apt/sources.list.d/ros-latest.list > /dev/null | |
| sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 | |
| sudo apt update && sudo apt install -y ros-noetic-ros-base | |
| - name: Download and install ROS 2 ${{ matrix.node }} | |
| run: | | |
| sudo apt install -y libboost-system-dev software-properties-common | |
| sudo add-apt-repository -y universe | |
| curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ | |
| -o /usr/share/keyrings/ros-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg]" \ | |
| "http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \ | |
| | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | |
| sudo apt update && sudo apt install -y python3-colcon-common-extensions python3-colcon-mixin python3-vcstool \ | |
| ros-${{ matrix.node }}-fastrtps ros-${{ matrix.node }}-rmw-fastrtps-cpp \ | |
| ros-${{ matrix.node }}-rclcpp ros-${{ matrix.node }}-nav-msgs ros-${{ matrix.node }}-geometry-msgs \ | |
| ros-${{ matrix.node }}-ros2pkg | |
| - name: Check ROS 2 installation | |
| run: | | |
| . /opt/ros/${{ matrix.node }}/setup.sh | |
| ros2 pkg list | |
| - name: Download the Integration Service Fast DDS SystemHandle | |
| run: | | |
| git clone https://github.com/eProsima/FastDDS-SH.git src/fastdds-sh | |
| - name: Download the Integration Service ROS 1 SystemHandle | |
| if: ${{ matrix.os == 'ubuntu-20.04' }} | |
| run: | | |
| git clone https://github.com/eProsima/ROS1-SH.git src/ros1-sh | |
| - name: Download the Integration Service ROS 2 SystemHandle | |
| run: | | |
| git clone https://github.com/eProsima/ROS2-SH.git src/ros2-sh | |
| - name: Download the Integration Service WebSocket SystemHandle | |
| run: | | |
| git clone https://github.com/eProsima/WebSocket-SH.git src/websocket-sh | |
| - name: Download the Integration Service FIWARE SystemHandle | |
| run: | | |
| git clone https://github.com/eProsima/FIWARE-SH.git src/fiware-sh | |
| - name: Install ROS 1 example_interfaces package | |
| if: ${{ matrix.os == 'ubuntu-20.04' }} | |
| working-directory: ./src/integration-service/examples/utils/ros1/catkin_ws | |
| run: | | |
| . /opt/ros/noetic/setup.sh | |
| catkin_make --pkg example_interfaces -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install | |
| catkin_make --pkg add_two_ints_server -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install | |
| - name: Build under ROS1 overlay | |
| if: ${{ matrix.os == 'ubuntu-20.04' }} | |
| run: | | |
| . /opt/ros/noetic/setup.sh | |
| colcon build --event-handler=console_direct+ \ | |
| --packages-up-to-regex is-ros1 \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON | |
| - name: Build under ROS2 overlay | |
| run: | | |
| . /opt/ros/${{ matrix.node }}/setup.sh | |
| colcon build --event-handler=console_direct+ \ | |
| --packages-skip-regex is-ros1 \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON | |
| - name: Test the Integration Service Core | |
| run: | | |
| colcon test --packages-select is-core --event-handlers console_direct+ | |
| colcon test-result | |
| - name: Test the Integration Service Fast DDS SystemHandle | |
| run: | | |
| . /opt/ros/${{ matrix.node }}/setup.sh | |
| colcon test --packages-select is-fastdds --event-handlers console_direct+ | |
| colcon test-result | |
| - name: Test the Integration Service ROS 1 SystemHandle | |
| if: ${{ matrix.os == 'ubuntu-20.04' }} | |
| run: | | |
| . /opt/ros/noetic/setup.sh | |
| roscore & | |
| echo "Waiting until roscore has been launched..." | |
| sleep 5 | |
| . install/local_setup.sh | |
| colcon test --packages-select is-ros1 --event-handlers console_direct+ | |
| colcon test-result | |
| - name: Test the Integration Service ROS 2 SystemHandle | |
| run: | | |
| . install/setup.sh | |
| RMW_IMPLEMENTATION=rmw_fastrtps_cpp colcon test --packages-select is-ros2 --event-handlers console_direct+ | |
| colcon test-result | |
| - name: Test the Integration Service WebSocket SystemHandle | |
| run: | | |
| colcon test --packages-select is-websocket --event-handlers console_direct+ | |
| colcon test-result | |
| - name: Test the Integration Service FIWARE SystemHandle | |
| run: | | |
| # launch context-broker in a container | |
| docker run -d --rm --name mongo --network host mongo:4.4 --bind_ip_all | |
| docker run -d --rm --name broker --network host fiware/orion -dbhost 127.0.0.1 | |
| # launch tests | |
| . /opt/ros/${{ matrix.node }}/setup.sh | |
| colcon test --packages-select is-fiware --event-handlers console_direct+ | |
| colcon test-result | |
| # stop containers | |
| docker stop mongo broker |