Generate Debian Packages #13
Workflow file for this run
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| name: Generate Debian Packages | |
| on: | |
| pull_request: | |
| branches: [ main ] | |
| types: [ opened, synchronize, reopened, ready_for_review ] | |
| workflow_dispatch: # Manual trigger | |
| inputs: | |
| ros_distros: | |
| description: 'ROS distributions to build (comma-separated: humble,iron,jazzy,kilted,rolling)' | |
| required: false | |
| default: 'humble,jazzy' | |
| schedule: | |
| - cron: '0 2 * * *' # Nightly at 2 AM UTC | |
| env: | |
| ROS_LOCALHOST_ONLY: 1 | |
| ROS_AUTOMATIC_DISCOVERY_RANGE: LOCALHOST | |
| jobs: | |
| # Only run if tests pass | |
| check-tests: | |
| if: github.event_name == 'pull_request' | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Wait for tests | |
| uses: lewagon/[email protected] | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| check-name: 'Test ROS2 humble' | |
| repo-token: ${{ secrets.GITHUB_TOKEN }} | |
| wait-interval: 30 | |
| determine-distros: | |
| runs-on: ubuntu-latest | |
| outputs: | |
| distros: ${{ steps.set-distros.outputs.distros }} | |
| steps: | |
| - name: Determine ROS distributions to build | |
| id: set-distros | |
| run: | | |
| if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then | |
| # Manual trigger - use input or default | |
| DISTROS="${{ github.event.inputs.ros_distros || 'humble,jazzy' }}" | |
| elif [[ "${{ github.event_name }}" == "pull_request" ]]; then | |
| # PR - build key distributions | |
| DISTROS="humble,jazzy" | |
| else | |
| # Scheduled - build all distributions | |
| DISTROS="humble,iron,jazzy,kilted,rolling" | |
| fi | |
| echo "Building for distributions: $DISTROS" | |
| # Convert to JSON array for matrix | |
| JSON_ARRAY=$(echo $DISTROS | jq -R 'split(",") | map(select(length > 0))') | |
| echo "distros=$JSON_ARRAY" >> $GITHUB_OUTPUT | |
| generate-debian: | |
| name: Generate Debian packages for ROS2 ${{ matrix.ros_distro }} | |
| runs-on: ubuntu-latest | |
| needs: [determine-distros] | |
| if: always() && (needs.check-tests.result == 'success' || needs.check-tests.result == 'skipped') | |
| container: | |
| image: ros:${{ matrix.ros_distro }}-ros-base-${{ matrix.ubuntu_distro }} | |
| credentials: | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_TOKEN }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distro: ${{ fromJson(needs.determine-distros.outputs.distros) }} | |
| include: | |
| - ros_distro: humble | |
| ubuntu_distro: jammy | |
| - ros_distro: iron | |
| ubuntu_distro: jammy | |
| - ros_distro: jazzy | |
| ubuntu_distro: noble | |
| - ros_distro: kilted | |
| ubuntu_distro: noble | |
| - ros_distro: rolling | |
| ubuntu_distro: noble | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Setup build environment | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| apt-get update -qq && apt-get install -y build-essential python3-pip python3-bloom python3-rosdep git lsb-release devscripts debhelper fakeroot | |
| shell: bash | |
| - name: Install Python dependencies | |
| run: | | |
| if [[ "${{ matrix.ros_distro }}" == "jazzy" || \ | |
| "${{ matrix.ros_distro }}" == "kilted" || \ | |
| "${{ matrix.ros_distro }}" == "rolling" ]]; then | |
| pip3 install --break-system-packages -I pygments -r requirements.txt | |
| python3 -m pip install -U --break-system-packages bloom | |
| else | |
| pip3 install -r requirements.txt | |
| python3 -m pip install -U bloom | |
| fi | |
| shell: bash | |
| - name: Build workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| colcon build --packages-up-to r2s_gw | |
| source install/setup.bash | |
| shell: bash | |
| - name: Setup rosdep mappings | |
| run: | | |
| echo "Adding local rosdep mappings..." | |
| mkdir -p /root/.ros/rosdep | |
| cat >/root/.ros/rosdep/local.yaml <<EOF | |
| greenwave_monitor_interfaces: | |
| ubuntu: | |
| jammy: [ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces] | |
| noble: [ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces] | |
| greenwave_monitor: | |
| ubuntu: | |
| jammy: [ros-${{ matrix.ros_distro }}-greenwave-monitor] | |
| noble: [ros-${{ matrix.ros_distro }}-greenwave-monitor] | |
| EOF | |
| mkdir -p /etc/ros/rosdep/sources.list.d | |
| echo "yaml file:///root/.ros/rosdep/local.yaml" > /etc/ros/rosdep/sources.list.d/99-local.list | |
| rosdep init || true | |
| rosdep update --include-eol-distros | |
| - name: Generate Debian packages | |
| run: | | |
| set -eo pipefail | |
| mkdir -p debian_packages/${{ matrix.ros_distro }} | |
| # Generate debian packages for greenwave_monitor_interfaces | |
| echo "Generating debian for greenwave_monitor_interfaces..." | |
| cd greenwave_monitor_interfaces | |
| bloom-generate rosdebian --ros-distro ${{ matrix.ros_distro }} && apt-get build-dep . -y && fakeroot debian/rules binary | |
| cp ../ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces_*.deb ../debian_packages/${{ matrix.ros_distro }}/ | |
| cd .. | |
| # Install interfaces package | |
| echo "Installing greenwave_monitor_interfaces..." | |
| apt-get update && apt-get install -y ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces_*.deb | |
| # Generate debian packages for greenwave_monitor | |
| echo "Generating debian for greenwave_monitor..." | |
| cd greenwave_monitor | |
| bloom-generate rosdebian --ros-distro ${{ matrix.ros_distro }} && apt-get build-dep . -y && fakeroot debian/rules binary | |
| cp ../ros-${{ matrix.ros_distro }}-greenwave-monitor_*.deb ../debian_packages/${{ matrix.ros_distro }}/ | |
| cd .. | |
| apt-get update && apt-get install -y ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor*.deb | |
| # Generate debian packages for r2s_gw | |
| echo "Generating debian for r2s_gw..." | |
| cd r2s_gw | |
| bloom-generate rosdebian --ros-distro ${{ matrix.ros_distro }} && apt-get build-dep . -y && fakeroot debian/rules binary | |
| cp ../ros-${{ matrix.ros_distro }}-r2s-gw_*.deb ../debian_packages/${{ matrix.ros_distro }}/ | |
| cd .. | |
| echo "Generated debian packages:" | |
| ls -la debian_packages/${{ matrix.ros_distro }}/ | |
| - name: Upload Debian packages | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: debian-packages-${{ matrix.ros_distro }} | |
| path: debian_packages/${{ matrix.ros_distro }}/ | |
| retention-days: 30 |