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Include all LTS ROS2 on develop branch #1151
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minggangw
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RobotWebTools:develop
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minggangw:enable-active-lts-on-develop
May 26, 2025
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c41eedd
Include all LTS ROS2 on develop branch
minggangw 78e7cd4
Add ros_distribution
minggangw be8c395
Separate arm64 platform
minggangw 5038393
User arm image for docker
minggangw 1848586
Use ubuntu arm
minggangw 8df7187
Only target on node 22.x for arm
minggangw 03c2ab1
Change windows accordingly
minggangw 04b8940
Fix rolling error for Windows
minggangw 7e2b843
Update badges in README
minggangw 3889eef
Address comments
minggangw 80314a4
Address comments
minggangw 8156bcd
Format
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,75 @@ | ||
| name: Linux arm64 | ||
|
|
||
| on: | ||
| push: | ||
| branches: | ||
| - develop | ||
| - kilted | ||
| - jazzy | ||
| - humble-hawksbill | ||
| pull_request: | ||
| branches: | ||
| - develop | ||
| - kilted | ||
| - jazzy | ||
| - humble-hawksbill | ||
| workflow_dispatch: | ||
|
|
||
| defaults: | ||
| run: | ||
| shell: bash | ||
|
|
||
| jobs: | ||
| build: | ||
| runs-on: ubuntu-24.04-arm | ||
| container: | ||
| image: ${{ matrix.docker_image }} | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| node-version: [22.X] | ||
| architecture: [arm64] | ||
| ros_distribution: | ||
| - humble | ||
| - jazzy | ||
| - kilted | ||
| - rolling | ||
| include: | ||
| # Humble Hawksbill (May 2022 - May 2027) | ||
| - docker_image: ubuntu:jammy | ||
| ros_distribution: humble | ||
| # Jazzy Jalisco (May 2024 - May 2029) | ||
| - docker_image: ubuntu:noble | ||
| ros_distribution: jazzy | ||
| # Kilted Kaiju (May 2025 - Dec 2026) | ||
| - docker_image: ubuntu:noble | ||
| ros_distribution: kilted | ||
| # Rolling Ridley (No End-Of-Life) | ||
| - docker_image: ubuntu:noble | ||
| ros_distribution: rolling | ||
| steps: | ||
| - name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }} | ||
| uses: actions/setup-node@v4 | ||
| with: | ||
| node-version: ${{ matrix.node-version }} | ||
| architecture: ${{ matrix.architecture }} | ||
|
|
||
| - name: Setup ROS2 | ||
| uses: ros-tooling/[email protected] | ||
| with: | ||
| required-ros-distributions: ${{ matrix.ros_distribution }} | ||
|
|
||
| - name: Install test-msgs on Linux | ||
| run: | | ||
| sudo apt install ros-${{ matrix.ros_distribution }}-test-msgs | ||
| - uses: actions/checkout@v4 | ||
|
|
||
| - name: Build and test rclnodejs | ||
| run: | | ||
| uname -a | ||
| source /opt/ros/${{ matrix.ros_distribution }}/setup.bash | ||
| npm i | ||
| npm run lint | ||
| npm test | ||
| npm run clean | ||
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| Original file line number | Diff line number | Diff line change | ||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| @@ -1,4 +1,4 @@ | ||||||||||||||||||||||||||||||
| name: Linux x64/arm64 | ||||||||||||||||||||||||||||||
| name: Linux x64 | ||||||||||||||||||||||||||||||
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||||||||||||||||||||||||||||||
| on: | ||||||||||||||||||||||||||||||
| push: | ||||||||||||||||||||||||||||||
|
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@@ -20,35 +20,33 @@ defaults: | |||||||||||||||||||||||||||||
| shell: bash | ||||||||||||||||||||||||||||||
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| jobs: | ||||||||||||||||||||||||||||||
| identify-ros-distro: | ||||||||||||||||||||||||||||||
| uses: ./.github/workflows/identify-ros-distro.yml | ||||||||||||||||||||||||||||||
|
|
||||||||||||||||||||||||||||||
| matrix-prep: | ||||||||||||||||||||||||||||||
| runs-on: ubuntu-latest | ||||||||||||||||||||||||||||||
| outputs: | ||||||||||||||||||||||||||||||
| arm64-matrix: ${{ steps.set-matrix.outputs.arm64-matrix }} | ||||||||||||||||||||||||||||||
| steps: | ||||||||||||||||||||||||||||||
| - id: set-matrix | ||||||||||||||||||||||||||||||
| run: | | ||||||||||||||||||||||||||||||
| if ${{ contains(github.base_ref, 'develop') || contains(github.ref, 'develop') }}; then | ||||||||||||||||||||||||||||||
| echo "arm64-matrix=[{\"architecture\":\"arm64\",\"node-version\":\"22.X\",\"ubuntu-version\":\"24.04-arm\"}]" >> $GITHUB_OUTPUT | ||||||||||||||||||||||||||||||
| else | ||||||||||||||||||||||||||||||
| echo "arm64-matrix=[]" >> $GITHUB_OUTPUT | ||||||||||||||||||||||||||||||
| fi | ||||||||||||||||||||||||||||||
|
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||||||||||||||||||||||||||||||
| build: | ||||||||||||||||||||||||||||||
| needs: [identify-ros-distro, matrix-prep] | ||||||||||||||||||||||||||||||
| runs-on: ubuntu-${{ matrix.ubuntu-version }} | ||||||||||||||||||||||||||||||
| runs-on: ubuntu-latest | ||||||||||||||||||||||||||||||
| container: | ||||||||||||||||||||||||||||||
| image: ${{ needs.identify-ros-distro.outputs.linuxos }} | ||||||||||||||||||||||||||||||
| image: ${{ matrix.docker_image }} | ||||||||||||||||||||||||||||||
| strategy: | ||||||||||||||||||||||||||||||
| fail-fast: false | ||||||||||||||||||||||||||||||
| matrix: | ||||||||||||||||||||||||||||||
| node-version: [20.X, 22.X, 24.X] | ||||||||||||||||||||||||||||||
| node-version: [22.X, 24.X] | ||||||||||||||||||||||||||||||
| architecture: [x64] | ||||||||||||||||||||||||||||||
| ubuntu-version: [latest] | ||||||||||||||||||||||||||||||
| # Include arm64 configuration from matrix-prep job | ||||||||||||||||||||||||||||||
| include: ${{ fromJSON(needs.matrix-prep.outputs.arm64-matrix) }} | ||||||||||||||||||||||||||||||
| ros_distribution: | ||||||||||||||||||||||||||||||
| - humble | ||||||||||||||||||||||||||||||
| - jazzy | ||||||||||||||||||||||||||||||
| - kilted | ||||||||||||||||||||||||||||||
| - rolling | ||||||||||||||||||||||||||||||
| include: | ||||||||||||||||||||||||||||||
| # Humble Hawksbill (May 2022 - May 2027) | ||||||||||||||||||||||||||||||
| - docker_image: ubuntu:jammy | ||||||||||||||||||||||||||||||
| ros_distribution: humble | ||||||||||||||||||||||||||||||
| # Jazzy Jalisco (May 2024 - May 2029) | ||||||||||||||||||||||||||||||
| - docker_image: ubuntu:noble | ||||||||||||||||||||||||||||||
| ros_distribution: jazzy | ||||||||||||||||||||||||||||||
| # Kilted Kaiju (May 2025 - Dec 2026) | ||||||||||||||||||||||||||||||
| - docker_image: ubuntu:noble | ||||||||||||||||||||||||||||||
| ros_distribution: kilted | ||||||||||||||||||||||||||||||
| # Rolling Ridley (No End-Of-Life) | ||||||||||||||||||||||||||||||
| - docker_image: ubuntu:noble | ||||||||||||||||||||||||||||||
|
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||||||||||||||||||||||||||||||
| - docker_image: ubuntu:noble | |
| ros_distribution: jazzy | |
| # Kilted Kaiju (May 2025 - Dec 2026) | |
| - docker_image: ubuntu:noble | |
| ros_distribution: kilted | |
| # Rolling Ridley (No End-Of-Life) | |
| - docker_image: ubuntu:noble | |
| - docker_image: ubuntu:jammy | |
| ros_distribution: jazzy | |
| # Kilted Kaiju (May 2025 - Dec 2026) | |
| - docker_image: ubuntu:jammy | |
| ros_distribution: kilted | |
| # Rolling Ridley (No End-Of-Life) | |
| - docker_image: ubuntu:jammy |
Copilot
AI
May 26, 2025
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[nitpick] The include blocks for different distributions are duplicated almost identically across both x64 and ARM64 workflows. Consider extracting this into a reusable workflow or template to reduce duplication and ease future updates.
Suggested change
| include: | |
| # Humble Hawksbill (May 2022 - May 2027) | |
| - docker_image: ubuntu:jammy | |
| ros_distribution: humble | |
| # Jazzy Jalisco (May 2024 - May 2029) | |
| - docker_image: ubuntu:noble | |
| ros_distribution: jazzy | |
| # Kilted Kaiju (May 2025 - Dec 2026) | |
| - docker_image: ubuntu:noble | |
| ros_distribution: kilted | |
| # Rolling Ridley (No End-Of-Life) | |
| - docker_image: ubuntu:noble | |
| ros_distribution: rolling | |
| include: ${{ fromJson(needs.shared-matrix.outputs.matrix) }} |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -16,16 +16,26 @@ on: | |
| workflow_dispatch: | ||
|
|
||
| jobs: | ||
| identify-ros-distro: | ||
| uses: ./.github/workflows/identify-ros-distro.yml | ||
|
|
||
| build: | ||
| needs: identify-ros-distro | ||
| runs-on: windows-2019 | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| node-version: [22.X] | ||
| ros_distribution: | ||
| - humble | ||
| - jazzy | ||
| - kilted | ||
| - rolling | ||
| include: | ||
| # Humble Hawksbill (May 2022 - May 2027) | ||
| - ros_distribution: humble | ||
| # Jazzy Jalisco (May 2024 - May 2029) | ||
| - ros_distribution: jazzy | ||
| # Kilted Kaiju (May 2025 - Dec 2026) | ||
| - ros_distribution: kilted | ||
| # Rolling Ridley (No End-Of-Life) | ||
| - ros_distribution: rolling | ||
| steps: | ||
| - name: Setup Node.js ${{ matrix.node-version }} | ||
| uses: actions/setup-node@v4 | ||
|
|
@@ -35,11 +45,10 @@ jobs: | |
| - name: Setup ROS2 | ||
| uses: ros-tooling/[email protected] | ||
| with: | ||
| required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }} | ||
| use-ros2-testing: true | ||
| required-ros-distributions: ${{ matrix.ros_distribution }} | ||
|
|
||
| - name: Install ROS2 Rolling (Conditional) | ||
| if: ${{ needs.identify-ros-distro.outputs.distro == 'rolling' }} | ||
| if: ${{ matrix.ros_distribution == 'rolling' }} | ||
| shell: bash | ||
| run: | | ||
| wget --quiet https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip -O rolling.zip | ||
|
|
@@ -53,14 +62,13 @@ jobs: | |
| - name: Build rclnodejs | ||
| shell: cmd | ||
| run: | | ||
| call "c:\dev\${{ needs.identify-ros-distro.outputs.distro }}\ros2-windows\setup.bat" | ||
| call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat" | ||
| npm i | ||
|
|
||
| # On the windows/foxy combination the Eclipse CycloneDDS RMW implementation is used to workaround | ||
| # an error when loading the default fastrtps ddl | ||
| - name: Test rclnodejs | ||
| shell: cmd | ||
| run: | | ||
| call "c:\dev\${{ needs.identify-ros-distro.outputs.distro }}\ros2-windows\setup.bat" | ||
| cmd /c "if ${{ needs.identify-ros-distro.outputs.distro }}==foxy (set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp&&npm test)" | ||
| cmd /c "if NOT ${{ needs.identify-ros-distro.outputs.distro }}==foxy if NOT ${{ needs.identify-ros-distro.outputs.distro }}==rolling if NOT ${{ needs.identify-ros-distro.outputs.distro }}==kilted (npm test)" | ||
| call "c:\dev\${{ matrix.ros_distribution }}\ros2-windows\setup.bat" | ||
| cmd /c "if NOT ${{ matrix.ros_distribution }}==rolling if NOT ${{ matrix.ros_distribution }}==kilted (npm test)" | ||
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The Docker image tag
ubuntu:nobleis invalid and will break the ARM64 workflow. Replace it with a valid Ubuntu tag likeubuntu:22.04(jammy) to match the Humble setup.