control: Rename message types for tilt_sensor node #6475
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| ################################################################################ | |
| # This workflow will do a clean install of project dependencies, build the | |
| # source code and run tests. | |
| ################################################################################ | |
| name: OASIS ROS | |
| # Controls when the action will run. Triggers the workflow on push or pull | |
| # request events | |
| on: | |
| push: | |
| pull_request: | |
| schedule: | |
| # Schedule the workflow to run at midnight on the first day of each month (UTC time) | |
| - cron: '0 0 1 * *' | |
| # A workflow run is made up of one or more jobs that can run sequentially or in | |
| # parallel | |
| jobs: | |
| # This workflow contains a single job called "build" | |
| build: | |
| # The type of runner that the job will run on | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: ubuntu-24.04 | |
| ros2_distro: kilted | |
| # Steps represent a sequence of tasks that will be executed as part of the | |
| # job | |
| steps: | |
| - name: Build environment information | |
| run: 'echo "Matrix OS: ${{ matrix.os }} on $HOSTNAME with $(getconf _NPROCESSORS_ONLN) cores"' | |
| # Check-out the repository under $GITHUB_WORKSPACE, so the job can | |
| # access it | |
| - name: Checkout main repo | |
| uses: actions/checkout@v4 | |
| # Compute all cache hashes once | |
| - name: Compute cache hashes | |
| uses: actions/github-script@v7 | |
| with: | |
| # Include messages with perception_cpp as keys can't be longer than | |
| # 512 characters | |
| script: | | |
| async function hash(patterns) { | |
| return await glob.hashFiles(patterns.join('\n')); | |
| } | |
| async function setHash(name, patterns) { | |
| const value = await hash(patterns); | |
| core.setOutput(name, value); | |
| core.exportVariable(name, value); | |
| } | |
| await setHash('CMAKE_HASH', [ | |
| 'oasis_tooling/scripts/*cmake.sh', | |
| ]); | |
| await setHash('OPENCV_HASH', [ | |
| 'oasis_tooling/config/opencv/**', | |
| 'oasis_tooling/scripts/*cv.sh', | |
| ]); | |
| await setHash('ROS2_DESKTOP_HASH', [ | |
| 'oasis_tooling/config/image_common/**', | |
| 'oasis_tooling/scripts/*ros2_desktop.sh', | |
| ]); | |
| await setHash('OASIS_DEPENDS_HASH', [ | |
| 'oasis_tooling/config/bgslibrary/**', | |
| 'oasis_tooling/config/camera_ros/**', | |
| 'oasis_tooling/config/depends.repos', | |
| 'oasis_tooling/config/i2cdevlib/**', | |
| 'oasis_tooling/config/libcamera_cmake/**', | |
| 'oasis_tooling/config/libcec/**', | |
| 'oasis_tooling/config/libfreenect2/**', | |
| 'oasis_tooling/config/OpenNI/**', | |
| 'oasis_tooling/config/ORB_SLAM_OASIS/**', | |
| 'oasis_tooling/config/p8-platform/**', | |
| 'oasis_tooling/config/pangolin/**', | |
| 'oasis_tooling/config/vision_opencv/**', | |
| 'oasis_tooling/scripts/*oasis_deps.sh', | |
| ]); | |
| await setHash('MEDIAPIPE_HASH', [ | |
| 'oasis_tooling/config/mediapipe/**', | |
| 'oasis_tooling/scripts/*mediapipe.sh', | |
| ]); | |
| await setHash('ARDUINO_BOOTSTRAP_HASH', [ | |
| 'oasis_avr/bootstrap.sh', | |
| 'oasis_avr/scripts/get_arduino_platform.sh', | |
| ]); | |
| await setHash('OASIS_AVR_HASH', [ | |
| 'oasis_avr/**', | |
| ]); | |
| await setHash('OASIS_DRIVERS_CPP_HASH', [ | |
| 'oasis_drivers_cpp/**', | |
| ]); | |
| await setHash('OASIS_MESSAGES_HASH', [ | |
| 'oasis_msgs/**', | |
| ]); | |
| await setHash('OASIS_PERCEPTION_CPP_HASH', [ | |
| 'oasis_msgs/**', | |
| 'oasis_perception_cpp/**', | |
| ]); | |
| await setHash('OASIS_RUNTIME_HASH', [ | |
| 'oasis_tooling/scripts/rdepinstall_oasis.sh', | |
| ]); | |
| - name: Restore CMake | |
| id: restore-cmake | |
| if: matrix.os != 'macbook' | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/cmake/install | |
| key: > | |
| restore-cmake-\ | |
| ${{ matrix.os }}-\ | |
| ${{ env.CMAKE_HASH }} | |
| - name: Restore OpenCV | |
| id: restore-opencv | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/cv/install | |
| key: > | |
| restore-opencv-\ | |
| ${{ matrix.os }}-\ | |
| ${{ env.OPENCV_HASH }}-\ | |
| ${{ env.CMAKE_HASH }} | |
| - name: Restore ROS 2 Desktop | |
| id: restore-ros2-desktop | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/ros2-desktop-${{ matrix.ros2_distro }}/install | |
| key: > | |
| restore-ros2-desktop-\ | |
| ${{ matrix.os }}-\ | |
| ${{ matrix.ros2_distro }}-\ | |
| ${{ env.ROS2_DESKTOP_HASH }}-\ | |
| ${{ env.CMAKE_HASH }} | |
| - name: Restore OASIS dependencies | |
| id: restore-oasis-depends | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/oasis-depends-${{ matrix.ros2_distro }}/install | |
| key: > | |
| restore-oasis-depends-\ | |
| ${{ matrix.os }}-\ | |
| ${{ matrix.ros2_distro }}-\ | |
| ${{ env.OASIS_DEPENDS_HASH }}-\ | |
| ${{ env.ROS2_DESKTOP_HASH }}-\ | |
| ${{ env.OPENCV_HASH }}-\ | |
| ${{ env.CMAKE_HASH }} | |
| - name: Restore MediaPipe | |
| id: restore-mediapipe | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/abseil/install | |
| ros-ws/mediapipe/install | |
| key: > | |
| restore-mediapipe-\ | |
| ${{ matrix.os }}-\ | |
| ${{ env.MEDIAPIPE_HASH }}-\ | |
| ${{ env.OPENCV_HASH }} | |
| - name: Restore Arduino IDE and CLI | |
| id: restore-arduino-tools | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| oasis_avr/arduino-* | |
| ros-ws/arduino-* | |
| ~/.arduino15 | |
| key: > | |
| restore-arduino-tools-\ | |
| ${{ matrix.os }}-\ | |
| ${{ env.ARDUINO_BOOTSTRAP_HASH }} | |
| - name: Restore OASIS AVR | |
| id: restore-oasis-avr | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/share/**/oasis_avr | |
| key: > | |
| restore-oasis-avr-\ | |
| ${{ matrix.os }}-\ | |
| ${{ matrix.ros2_distro }}-\ | |
| ${{ env.CMAKE_HASH }}-\ | |
| ${{ env.ARDUINO_BOOTSTRAP_HASH }}-\ | |
| ${{ env.OASIS_AVR_HASH }} | |
| - name: Restore OASIS drivers_cpp | |
| id: restore-oasis-drivers-cpp | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/include/oasis_drivers_cpp | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/lib/oasis_drivers_cpp | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/share/**/oasis_drivers_cpp | |
| key: > | |
| restore-oasis-drivers-cpp-\ | |
| ${{ matrix.os }}-\ | |
| ${{ matrix.ros2_distro }}-\ | |
| ${{ env.CMAKE_HASH }}-\ | |
| ${{ env.ROS2_DESKTOP_HASH }}-\ | |
| ${{ env.OASIS_DEPENDS_HASH }}-\ | |
| ${{ env.OASIS_MESSAGES_HASH }}-\ | |
| ${{ env.OASIS_DRIVERS_CPP_HASH }} | |
| - name: Restore OASIS messages | |
| id: restore-oasis-msgs | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/include/oasis_msgs | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/lib/liboasis_msgs* | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/share/**/oasis_msgs | |
| key: > | |
| restore-oasis-msgs-\ | |
| ${{ matrix.os }}-\ | |
| ${{ matrix.ros2_distro }}-\ | |
| ${{ env.CMAKE_HASH }}-\ | |
| ${{ env.ROS2_DESKTOP_HASH }}-\ | |
| ${{ env.OASIS_MESSAGES_HASH }} | |
| - name: Restore OASIS perception_cpp | |
| id: restore-oasis-perception-cpp | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/include/oasis_perception_cpp | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/lib/oasis_perception_cpp | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/share/**/oasis_perception_cpp | |
| key: > | |
| restore-oasis-perception-cpp-\ | |
| ${{ matrix.os }}-\ | |
| ${{ matrix.ros2_distro }}-\ | |
| ${{ env.CMAKE_HASH }}-\ | |
| ${{ env.OPENCV_HASH }}-\ | |
| ${{ env.MEDIAPIPE_HASH }}-\ | |
| ${{ env.ROS2_DESKTOP_HASH }}-\ | |
| ${{ env.OASIS_DEPENDS_HASH }}-\ | |
| ${{ env.OASIS_PERCEPTION_CPP_HASH }} | |
| - name: Restore OASIS runtime dependencies | |
| id: restore-oasis-runtime | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ros-ws/oasis-${{ matrix.ros2_distro }}/install/share/oasis_tooling/package.xml | |
| key: > | |
| restore-oasis-runtime-\ | |
| ${{ matrix.os }}-\ | |
| ${{ env.OASIS_RUNTIME_HASH }} | |
| - name: Install CMake dependencies | |
| if: steps.restore-cmake.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/depinstall_cmake.sh | |
| - name: Build CMake | |
| if: steps.restore-cmake.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/build_cmake.sh | |
| - name: Install OpenCV dependencies | |
| if: steps.restore-opencv.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/depinstall_cv.sh | |
| - name: Build OpenCV | |
| if: steps.restore-opencv.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/build_cv.sh | |
| - name: Install ROS 2 Desktop dependencies | |
| if: steps.restore-ros2-desktop.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/depinstall_ros2_desktop.sh | |
| - name: Build ROS 2 Desktop | |
| if: steps.restore-ros2-desktop.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/build_ros2_desktop.sh | |
| - name: Install OASIS dependency rosdeps | |
| if: steps.restore-oasis-depends.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/depinstall_oasis_deps.sh | |
| - name: Build OASIS dependencies | |
| if: steps.restore-oasis-depends.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/build_oasis_deps.sh | |
| - name: Install MediaPipe dependencies | |
| if: steps.restore-mediapipe.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/depinstall_mediapipe.sh | |
| - name: Build MediaPipe | |
| if: steps.restore-mediapipe.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/build_mediapipe.sh | |
| - name: Mark cached packages as skipped | |
| run: | | |
| set -euo pipefail | |
| if [ "${{ steps.restore-oasis-avr.outputs.cache-hit }}" = 'true' ]; then | |
| echo "Marking oasis_avr as ignored (cache hit detected)" | |
| touch "oasis_avr/COLCON_IGNORE" | |
| fi | |
| if [ "${{ steps.restore-oasis-drivers-cpp.outputs.cache-hit }}" = 'true' ]; then | |
| echo "Marking oasis_drivers_cpp as ignored (cache hit detected)" | |
| touch "oasis_drivers_cpp/COLCON_IGNORE" | |
| fi | |
| if [ "${{ steps.restore-oasis-perception-cpp.outputs.cache-hit }}" = 'true' ]; then | |
| echo "Marking oasis_perception_cpp as ignored (cache hit detected)" | |
| touch "oasis_perception_cpp/COLCON_IGNORE" | |
| fi | |
| - name: Install OASIS rosdeps | |
| run: ./oasis_tooling/scripts/depinstall_oasis.sh | |
| - name: colcon build | |
| run: | | |
| set -euo pipefail | |
| args=() | |
| if [ "${{ steps.restore-oasis-avr.outputs.cache-hit }}" = 'true' ]; then | |
| echo "Skipping oasis_avr build (cache hit detected)" | |
| args+=(--skip-avr) | |
| fi | |
| if [ "${{ steps.restore-oasis-drivers-cpp.outputs.cache-hit }}" = 'true' ]; then | |
| echo "Skipping oasis_drivers_cpp build (cache hit detected)" | |
| args+=(--skip-drivers-cpp) | |
| fi | |
| if [ "${{ steps.restore-oasis-msgs.outputs.cache-hit }}" = 'true' ]; then | |
| echo "Skipping oasis_msgs build (cache hit detected)" | |
| args+=(--skip-messages) | |
| fi | |
| if [ "${{ steps.restore-oasis-perception-cpp.outputs.cache-hit }}" = 'true' ]; then | |
| echo "Skipping oasis_perception_cpp build (cache hit detected)" | |
| args+=(--skip-perception-cpp) | |
| fi | |
| if [ ${#args[@]} -eq 0 ]; then | |
| echo "No packages skipped; performing full build." | |
| ./oasis_tooling/scripts/build_oasis.sh | |
| else | |
| echo "Running build with skipped packages: ${args[*]}" | |
| ./oasis_tooling/scripts/build_oasis.sh "${args[@]}" | |
| fi | |
| - name: Install OASIS files | |
| run: ./oasis_tooling/scripts/install_oasis.sh | |
| - name: Install OASIS runtime dependencies | |
| if: steps.restore-oasis-runtime.outputs.cache-hit != 'true' | |
| run: ./oasis_tooling/scripts/rdepinstall_oasis.sh | |
| #- name: Upload Ardino hex to /dev/ttyACM0 | |
| # if: matrix.os == 'cinder' | |
| # run: | | |
| # ./oasis_avr/scripts/reset_leonardo.py /dev/ttyACM0 | |
| # sleep 2 | |
| # source oasis_tooling/scripts/env_ros2_desktop.sh && cmake --build "build/oasis_avr" --target upload -- TARGET=firmata_node SERIAL_PORT=/dev/ttyACM0 | |
| # sleep 2 | |
| #- name: Test Ardino | |
| # if: matrix.os == 'cinder' | |
| # run: | | |
| # source install/setup.bash && ros2 run oasis_drivers_py firmata_test |