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sgillensgillen
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try gitlab workflows after migration
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‎.github/workflows/debian-packages.yml‎

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

‎.github/workflows/ros-tests.yml‎

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name: ROS2 Tests
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on:
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push:
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branches: [ "**" ] # Run on all branches
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pull_request:
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branches: [ main ]
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env:
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ROS_LOCALHOST_ONLY: 1
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ROS_AUTOMATIC_DISCOVERY_RANGE: LOCALHOST
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jobs:
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test:
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name: Test ROS2 ${{ matrix.ros_distro }}
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runs-on: ubuntu-latest
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container: ros:${{ matrix.ros_distro }}-ros-base-${{ matrix.ubuntu_distro }}
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strategy:
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fail-fast: false
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matrix:
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include:
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- ros_distro: humble
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ubuntu_distro: jammy
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- ros_distro: iron
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ubuntu_distro: jammy
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- ros_distro: jazzy
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ubuntu_distro: noble
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- ros_distro: kilted
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ubuntu_distro: noble
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- ros_distro: rolling
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ubuntu_distro: noble
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: Setup ROS environment
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run: |
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source /opt/ros/${{ matrix.ros_distro }}/setup.bash
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apt-get update -qq && apt-get install -y build-essential python3-pip
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- name: Install Python dependencies
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run: |
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if [[ "${{ matrix.ros_distro }}" == "jazzy" || \
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"${{ matrix.ros_distro }}" == "kilted" || \
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"${{ matrix.ros_distro }}" == "rolling" ]]; then
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pip3 install --break-system-packages -I pygments -r requirements.txt
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else
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pip3 install -r requirements.txt
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fi
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- name: Build packages
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run: |
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source /opt/ros/${{ matrix.ros_distro }}/setup.bash
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echo "Building and testing on ROS2 ${{ matrix.ros_distro }}"
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colcon build --packages-up-to r2s_gw
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- name: Run tests
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run: |
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source /opt/ros/${{ matrix.ros_distro }}/setup.bash
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colcon test --event-handlers console_direct+ --return-code-on-test-failure --packages-up-to r2s_gw
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- name: Upload test results
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uses: actions/upload-artifact@v4
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if: always()
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with:
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name: test-results-${{ matrix.ros_distro }}
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path: |
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build/
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install/
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log/
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retention-days: 7
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- name: Publish test results
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uses: EnricoMi/publish-unit-test-result-action@v2
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if: always()
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with:
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files: log/test_results/*/junit.xml
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check_name: "Test Results (${{ matrix.ros_distro }})"

‎.github/workflows/smoke-tests.yml‎

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name: Smoke Tests
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on:
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workflow_run:
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workflows: ["Generate Debian Packages"]
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types: [completed]
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branches: [main]
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workflow_dispatch: # Manual trigger
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inputs:
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ros_distros:
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description: 'ROS distributions to test (comma-separated: humble,iron,jazzy,kilted,rolling)'
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required: false
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default: 'humble,jazzy'
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env:
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ROS_LOCALHOST_ONLY: 1
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ROS_AUTOMATIC_DISCOVERY_RANGE: LOCALHOST
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jobs:
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determine-distros:
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runs-on: ubuntu-latest
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if: github.event.workflow_run.conclusion == 'success' || github.event_name == 'workflow_dispatch'
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outputs:
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distros: ${{ steps.set-distros.outputs.distros }}
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steps:
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- name: Determine ROS distributions to test
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id: set-distros
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run: |
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if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
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DISTROS="${{ github.event.inputs.ros_distros || 'humble,jazzy' }}"
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else
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# Use same distributions as the completed workflow
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DISTROS="humble,iron,jazzy,kilted,rolling"
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fi
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echo "Testing distributions: $DISTROS"
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JSON_ARRAY=$(echo $DISTROS | jq -R 'split(",") | map(select(length > 0))')
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echo "distros=$JSON_ARRAY" >> $GITHUB_OUTPUT
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smoke-test:
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name: Smoke test ROS2 ${{ matrix.ros_distro }}
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runs-on: ubuntu-latest
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needs: [determine-distros]
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container: ros:${{ matrix.ros_distro }}-ros-base-${{ matrix.ubuntu_distro }}
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strategy:
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fail-fast: false
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matrix:
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ros_distro: ${{ fromJson(needs.determine-distros.outputs.distros) }}
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include:
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- ros_distro: humble
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ubuntu_distro: jammy
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- ros_distro: iron
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ubuntu_distro: jammy
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- ros_distro: jazzy
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ubuntu_distro: noble
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- ros_distro: kilted
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ubuntu_distro: noble
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- ros_distro: rolling
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ubuntu_distro: noble
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steps:
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- name: Setup environment
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run: |
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apt-get update -qq
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- name: Download Debian packages
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uses: actions/download-artifact@v4
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with:
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name: debian-packages-${{ matrix.ros_distro }}
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path: debian_packages/${{ matrix.ros_distro }}/
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- name: Install and test packages
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run: |
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set -eo pipefail
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echo "Smoke testing install on ROS2 ${{ matrix.ros_distro }}"
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ls -la debian_packages/${{ matrix.ros_distro }}/
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# Install the debian packages
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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 ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-r2s-gw_*.deb
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# Verify packages are installed
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dpkg -s ros-${{ matrix.ros_distro }}-r2s-gw ros-${{ matrix.ros_distro }}-greenwave-monitor ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces
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# Install Python dependencies
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apt-get install -y python3-pip || true
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if [[ "${{ matrix.ros_distro }}" == "jazzy" || \
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"${{ matrix.ros_distro }}" == "kilted" || \
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"${{ matrix.ros_distro }}" == "rolling" ]]; then
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# Download requirements.txt from the repo since we don't have checkout
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curl -sSL https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/r2s_gw/requirements.txt > /tmp/requirements.txt
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python3 -m pip install -I pygments -r /tmp/requirements.txt --break-system-packages
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else
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curl -sSL https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/r2s_gw/requirements.txt > /tmp/requirements.txt
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python3 -m pip install -r /tmp/requirements.txt
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fi
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- name: Test r2s_gw execution
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run: |
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source /opt/ros/${{ matrix.ros_distro }}/setup.bash
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timeout 10s bash -lc "script -qfec 'ros2 run r2s_gw r2s_gw' /dev/null <<< \$'q'" || true
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- name: Test greenwave_monitor execution
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run: |
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source /opt/ros/${{ matrix.ros_distro }}/setup.bash
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ros2 run greenwave_monitor greenwave_monitor & echo $! > /tmp/gwm.pid
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sleep 3
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ros2 node list | tee /tmp/nodes.txt
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grep -q greenwave_monitor /tmp/nodes.txt
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kill -TERM "$(cat /tmp/gwm.pid)" || true
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wait "$(cat /tmp/gwm.pid)" || true

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