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Update ci for foxy (#153)
* Make binary build really a build based on released binaries only. * Leave only foxy CI workflows.
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‎.github/workflows/ci-build-binary-foxy.yml‎

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name: Binary Build - Foxy
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on:
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pull_request:
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branches:
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- foxy
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push:
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branches:
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- foxy
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '43 8 * * *'
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jobs:
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foxy_binary:
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name: foxy binary build
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runs-on: ubuntu-latest
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strategy:
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matrix:
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env:
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- {ROS_DISTRO: foxy, ROS_REPO: main}
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- {ROS_DISTRO: foxy, ROS_REPO: testing}
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env:
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UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver-not-released.${{ matrix.env.ROS_DISTRO }}.repos
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DOCKER_RUN_OPTS: --network static_test_net
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
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IMMEDIATE_TEST_OUTPUT: true
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
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steps:
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- uses: actions/checkout@v1
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- name: start ursim
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run: |
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.github/dockerursim/build_and_run_docker_ursim.sh
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: cache target_ws
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if: ${{ ! matrix.env.CCOV }}
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/target_ws
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key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
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restore-keys: |
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target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
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- name: cache ccache
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uses: pat-s/[email protected]
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
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ccache-${{ env.CACHE_PREFIX }}
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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- name: prepare target_ws for cache
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if: ${{ always() && ! matrix.env.CCOV }}
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run: |
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du -sh ${{ env.BASEDIR }}/target_ws
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sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
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sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
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du -sh ${{ env.BASEDIR }}/target_ws

‎.github/workflows/ci-build-binary.yml‎

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‎.github/workflows/ci-build-coverage.yml‎

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name: Coverage Build
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on:
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pull_request:
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push:
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branches:
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- master
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- develop
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '58 8 * * *'
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- foxy
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jobs:
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coverage:

‎.github/workflows/ci-build-semi-binary.yml‎

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name: Semi-Binary Build
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on:
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pull_request:
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branches:
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- foxy
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push:
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branches:
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- foxy
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '43 8 * * *'
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jobs:
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binary:
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name: binary build
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runs-on: ubuntu-latest
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strategy:
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matrix:
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env:
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- {ROS_DISTRO: foxy, ROS_REPO: main}
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- {ROS_DISTRO: foxy, ROS_REPO: testing}
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env:
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UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver.repos
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DOCKER_RUN_OPTS: --network static_test_net
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
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IMMEDIATE_TEST_OUTPUT: true
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
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steps:
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- uses: actions/checkout@v1
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- name: start ursim
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run: |
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.github/dockerursim/build_and_run_docker_ursim.sh
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: cache target_ws
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if: ${{ ! matrix.env.CCOV }}
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/target_ws
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key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
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restore-keys: |
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target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
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- name: cache ccache
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uses: pat-s/[email protected]
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
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ccache-${{ env.CACHE_PREFIX }}
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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- name: prepare target_ws for cache
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if: ${{ always() && ! matrix.env.CCOV }}
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run: |
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du -sh ${{ env.BASEDIR }}/target_ws
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sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
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sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
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du -sh ${{ env.BASEDIR }}/target_ws

‎.github/workflows/ci-build-source.yml‎

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on:
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push:
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branches:
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- master
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- develop
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- foxy
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '43 1 * * *'
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jobs:
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source:
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name: source build
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foxy_source:
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name: foxy source build
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runs-on: ubuntu-20.04
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strategy:
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fail-fast: false
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steps:
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: foxy
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- uses: actions/checkout@v1
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- name: start ursim
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run: |
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.github/dockerursim/build_and_run_docker_ursim.sh
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- uses: ros-tooling/[email protected]
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with:
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target-ros2-distro: foxy

‎.github/workflows/ci-format.yml‎

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pull_request:
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push:
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branches:
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- master
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- develop
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- foxy
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jobs:
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pre-commit:

‎.github/workflows/ci-ros-lint.yml‎

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name: ROS2 Lint
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on:
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pull_request:
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branches:
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- foxy
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jobs:
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ament_lint:

‎.github/workflows/ci-ursim.yml‎

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‎README.md‎

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```
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pre-commit install`
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```
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## CI setup
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There are three build stages checking current and future compatibility of the driver.
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1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
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1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
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Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
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1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.

‎Universal_Robots_ROS2_Driver-not-released.foxy.repos‎

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repositories:
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ros2_control_demos:
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type: git
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url: https://github.com/ros-controls/ros2_control_demos.git
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version: master
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ur_msgs:
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type: git
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url: https://github.com/destogl/ur_msgs.git
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version: ros2

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