Generate Debian Packages #119
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| # SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES | |
| # Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| # | |
| # SPDX-License-Identifier: Apache-2.0 | |
| 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 | |
| schedule: | |
| - cron: '0 2 * * *' # Nightly at 2 AM UTC | |
| env: | |
| ROS_LOCALHOST_ONLY: 1 | |
| ROS_AUTOMATIC_DISCOVERY_RANGE: LOCALHOST | |
| jobs: | |
| 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,iron,jazzy,kilted,rolling' }}" | |
| else | |
| # Always build all distributions | |
| DISTROS="humble,iron,jazzy,kilted,rolling" | |
| fi | |
| echo "Building for distributions: $DISTROS" | |
| # Convert to JSON array for matrix | |
| JSON_ARRAY=$(echo "$DISTROS" | jq -R -c 'split(",") | map(select(length > 0))') | |
| echo "distros=$JSON_ARRAY" >> $GITHUB_OUTPUT | |
| generate-debian: | |
| name: Generate Debian packages for ROS2 ${{ matrix.ros_distro }} | |
| runs-on: ubuntu-latest | |
| needs: [determine-distros] | |
| container: | |
| image: ubuntu:${{ matrix.ubuntu_distro }} | |
| 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: Build Debian packages | |
| run: | | |
| chmod +x scripts/build_debian_packages.sh | |
| ./scripts/build_debian_packages.sh ${{ matrix.ros_distro }} ${{ matrix.ubuntu_distro }} | |
| shell: bash | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| - name: Upload Debian packages | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: debian-packages-${{ matrix.ros_distro }} | |
| path: debian_packages/${{ matrix.ros_distro }}/ | |
| retention-days: 30 | |
| smoke-test: | |
| name: Smoke test ROS2 ${{ matrix.ros_distro }} | |
| runs-on: ubuntu-latest | |
| needs: [determine-distros, generate-debian] | |
| container: | |
| image: ubuntu:${{ matrix.ubuntu_distro }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distro: ${{ fromJson(needs.determine-distros.outputs.distros) }} | |
| include: | |
| - ros_distro: humble | |
| ubuntu_distro: jammy | |
| - ros_distro: iron | |
| ubuntu_distro: jammy | |
| - ros_distro: jazzy | |
| ubuntu_distro: noble | |
| - ros_distro: kilted | |
| ubuntu_distro: noble | |
| - ros_distro: rolling | |
| ubuntu_distro: noble | |
| steps: | |
| - name: Setup ROS repository and install base ROS | |
| run: | | |
| export DEBIAN_FRONTEND=noninteractive | |
| export TZ=Etc/UTC | |
| ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone | |
| apt-get update -qq | |
| apt-get install -y curl gnupg lsb-release | |
| curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list | |
| apt-get update -qq | |
| # Install minimal ROS to get /opt/ros and basic infrastructure | |
| apt-get install -y ros-${{ matrix.ros_distro }}-ros-core | |
| shell: bash | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| - name: Download Debian packages | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: debian-packages-${{ matrix.ros_distro }} | |
| path: debian_packages/${{ matrix.ros_distro }}/ | |
| - name: Install and test packages | |
| run: | | |
| set -eo pipefail | |
| echo "Smoke testing install on ROS2 ${{ matrix.ros_distro }}" | |
| ls -la debian_packages/${{ matrix.ros_distro }}/ | |
| # Install the debian packages on top of ros-core | |
| apt-get install -y ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces_*.deb ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor_*.deb | |
| # Verify packages are installed | |
| dpkg -s ros-${{ matrix.ros_distro }}-greenwave-monitor ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces | |
| shell: bash | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| - name: Test ncurses_dashboard execution (no extra dependencies) | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| # Test ncurses frontend BEFORE installing any pip dependencies | |
| # This verifies it works with only stdlib (curses) from the debian package | |
| echo "Testing ncurses_dashboard (no extra dependencies required)..." | |
| # Start monitor node in background for ncurses to connect to | |
| ros2 run greenwave_monitor greenwave_monitor > /dev/null 2>&1 & echo $! > /tmp/gwm_ncurses.pid | |
| sleep 3 | |
| # Run ncurses frontend with simulated terminal and quit command | |
| # Exit code 0 means clean exit (not 11 for SIGSEGV or 134 for SIGABRT) | |
| # Set TERM=linux to provide basic terminal capabilities for curses | |
| set +e | |
| TERM=linux timeout 10s script -qfec 'ros2 run greenwave_monitor ncurses_dashboard' /dev/null <<< $'q' | |
| EXIT_CODE=$? | |
| set -e | |
| if [ $EXIT_CODE -eq 0 ]; then | |
| echo "✓ ncurses_dashboard exited cleanly" | |
| elif [ $EXIT_CODE -eq 124 ]; then | |
| echo "✗ ncurses_dashboard timed out" | |
| kill -9 "$(cat /tmp/gwm_ncurses.pid)" 2>/dev/null || true | |
| exit 1 | |
| elif [ $EXIT_CODE -eq 11 ] || [ $EXIT_CODE -eq 139 ]; then | |
| echo "✗ ncurses_dashboard crashed with SIGSEGV (code: $EXIT_CODE)" | |
| kill -9 "$(cat /tmp/gwm_ncurses.pid)" 2>/dev/null || true | |
| exit 1 | |
| elif [ $EXIT_CODE -eq 134 ]; then | |
| echo "✗ ncurses_dashboard crashed with SIGABRT/core dump (code: $EXIT_CODE)" | |
| kill -9 "$(cat /tmp/gwm_ncurses.pid)" 2>/dev/null || true | |
| exit 1 | |
| else | |
| echo "✓ ncurses_dashboard exited with code: $EXIT_CODE (acceptable)" | |
| fi | |
| # Cleanup | |
| kill -INT "$(cat /tmp/gwm_ncurses.pid)" 2>/dev/null || true | |
| sleep 1 | |
| kill -9 "$(cat /tmp/gwm_ncurses.pid)" 2>/dev/null || true | |
| shell: bash | |
| - name: Clone r2s_gw repository for integration testing | |
| run: | | |
| # Install git if not available | |
| apt-get update -qq | |
| apt-get install -y git | |
| # Try to clone the matching branch, fallback to main if it doesn't exist | |
| # Use head_ref for PRs (actual branch name), ref_name for pushes | |
| BRANCH_NAME="${{ github.head_ref || github.ref_name }}" | |
| if git ls-remote --exit-code --heads https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git "$BRANCH_NAME" > /dev/null 2>&1; then | |
| echo "Cloning r2s_gw branch: $BRANCH_NAME" | |
| git clone --branch "$BRANCH_NAME" --depth 1 https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git | |
| else | |
| echo "Branch $BRANCH_NAME not found in r2s_gw, falling back to main" | |
| git clone --branch main --depth 1 https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git | |
| fi | |
| shell: bash | |
| - name: Install Python dependencies for r2s_gw | |
| run: | | |
| # Install pip if not available | |
| apt-get install -y python3-pip python3-colcon-common-extensions || true | |
| # Install Python dependencies | |
| if [[ "${{ matrix.ros_distro }}" == "jazzy" || \ | |
| "${{ matrix.ros_distro }}" == "kilted" || \ | |
| "${{ matrix.ros_distro }}" == "rolling" ]]; then | |
| pip3 install --break-system-packages --ignore-installed pygments textual | |
| else | |
| pip3 install --ignore-installed pygments textual | |
| fi | |
| shell: bash | |
| - name: Build r2s_gw with colcon | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| # Build r2s_gw to register it as a ROS package | |
| colcon build --packages-select r2s_gw --base-paths . | |
| shell: bash | |
| - name: Test r2s_gw_dashboard execution | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| source install/local_setup.bash | |
| echo "Testing r2s_gw_dashboard with debian-installed greenwave_monitor..." | |
| # Test r2s_gw dashboard with proper terminal | |
| # The dashboard script automatically starts the monitor node | |
| set +e | |
| TERM=linux timeout 10s script -qfec 'ros2 run r2s_gw r2s_gw_dashboard' /dev/null <<< $'q' | |
| EXIT_CODE=$? | |
| set -e | |
| if [ $EXIT_CODE -eq 0 ]; then | |
| echo "✓ r2s_gw_dashboard exited cleanly" | |
| elif [ $EXIT_CODE -eq 124 ]; then | |
| echo "✗ r2s_gw_dashboard timed out" | |
| exit 1 | |
| else | |
| echo "✗ r2s_gw_dashboard exited with unexpected code: $EXIT_CODE" | |
| exit 1 | |
| fi | |
| shell: bash | |
| - name: Test greenwave_monitor execution | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| # Start ROS 2 daemon to help with DDS discovery | |
| ros2 daemon start || true | |
| sleep 2 | |
| # Start node in background | |
| ros2 run greenwave_monitor greenwave_monitor > /dev/null 2>&1 & echo $! > /tmp/gwm.pid | |
| echo "Started greenwave_monitor with PID: $(cat /tmp/gwm.pid)" | |
| # Wait longer for DDS discovery in CI environment | |
| sleep 10 | |
| # Check if process is still running | |
| if ps -p $(cat /tmp/gwm.pid) > /dev/null; then | |
| echo "✓ Process is running" | |
| else | |
| echo "✗ Process died!" | |
| exit 1 | |
| fi | |
| # List nodes with retry logic | |
| echo "Running ros2 node list..." | |
| for i in {1..3}; do | |
| ros2 node list | tee /tmp/nodes.txt | |
| if [ -s /tmp/nodes.txt ]; then | |
| break | |
| fi | |
| echo "Retry $i: Node list empty, waiting..." | |
| sleep 3 | |
| done | |
| echo "Nodes found:" | |
| cat /tmp/nodes.txt | |
| # Check if our node is in the list | |
| if grep -q greenwave_monitor /tmp/nodes.txt; then | |
| echo "✓ Node found in list" | |
| else | |
| echo "✗ Node NOT found in list (DDS discovery issue in CI)" | |
| echo "Process is running, so package installation is OK - considering test passed" | |
| fi | |
| # Cleanup | |
| kill -INT "$(cat /tmp/gwm.pid)" || true | |
| sleep 2 | |
| kill -9 $(cat /tmp/gwm.pid) 2>/dev/null || true | |
| ros2 daemon stop || true | |
| shell: bash |