[ci] enable ros-o test

Author: mqcmd196

.github/workflows/config.yml

@@ -93,3 +93,109 @@ jobs:
           ROS_PARALLEL_TEST_JOBS: "-j4"
           CATKIN_TOOLS_BUILD_OPTIONS: "-iv --summarize --no-status"
           BUILD_PKGS : ${{ matrix.BUILD_PKGS }}
+
+ # ROS-O setup for v4hn https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  # ROS-O setup for techfak https://ros.packages.techfak.net/
+  # note that v4hn uses ROS_DISTRO=one and techfak uses ROS_DISTRO
+  ros-o:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - DISTRO: ubuntu:22.04
+            ROS_ONE_VARIANT: techfak
+            ROS_REPOSITORY_URL: "deb [trusted=yes] https://ros.packages.techfak.net jammy-testing main"
+            ROSDEP_PACKAGE_MAPPING: "yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
+          - DISTRO: ubuntu:24.04
+            ROS_ONE_VARIANT: techfak
+            ROS_REPOSITORY_URL: "deb [trusted=yes] https://ros.packages.techfak.net noble-testing main"
+            ROSDEP_PACKAGE_MAPPING: "yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
+
+    container: ${{ matrix.DISTRO }}
+
+    env:
+      DEBIAN_FRONTEND : noninteractive
+
+    steps:
+      - name: Chcekout Source
+        uses: actions/checkout@v3.0.2
+
+      - name: Setup ROS-O deb repository
+        run: |
+          set -x
+          apt update && apt install -qq -y ca-certificates git
+          echo ${{ matrix.ROS_REPOSITORY_URL }} | tee /etc/apt/sources.list.d/ros-o-builder.list
+          ##
+          # https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28
+          # Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow.
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" && "${{ matrix.DISTRO }}" == "ubuntu:24.04" ]]; then apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros; fi
+          ##
+          apt update
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              apt install -qq -y python3-rosdep2
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak"  ]]; then
+              # Do not install python3-rosdep2, which is an outdated version of rosdep shipped via the Ubuntu repositories (instead of ROS)!
+              apt install -qq -y python3-rosdep
+              rosdep init
+          fi
+          echo ${{ matrix.ROSDEP_PACKAGE_MAPPING }} | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          rosdep update
+        shell: bash
+
+      - name: Setup catkin-tools
+        run: |
+          set -x
+          # setup catkin tools
+          apt install -qq -y python3-pip
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              pip3 install catkin-tools==0.9.4
+              apt install -qq -y catkin
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
+              apt install -qq -y ros-one-catkin python3-catkin-tools
+          fi
+          # setup build tools
+          apt install -qq -y cmake build-essential ros-one-rosbash
+        shell: bash
+
+      - name: Setup Workspace
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          # setup workspace
+          mkdir -p ~/ws/src
+          cd ~/ws/src
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
+          # TODO: remove these lines and uncomment https://github.com/ubi-agni/ros-builder-action/blob/191fab06004ad5784c28cf2ba2b18f6d163a860d/ros-one.repos#L1089
+              git clone https://github.com/locusrobotics/catkin_virtualenv.git
+          fi
+          ln -sf $GITHUB_WORKSPACE .
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+          # check all system packages are able to install, because ROS-O build deb files that needs all packages
+          PIP_BREAK_SYSTEM_PACKAGES=1 rosdep install -qq --simulate -y --from-path . --ignore-src -t exec -t buildtool_export -t buildtool -t build -t build_export | tee rosdep-install.sh
+          # catkin_tools is not available on v4hn/jammy
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then sed -i '/python3-catkin-tools/s/^/#/' rosdep-install.sh; fi
+          sed 's/apt-get install/apt-get -y install/;/install ros-one/s/^/#/;/pip3 install/s/^/#/' rosdep-install.sh | bash -xe
+        shell: bash
+
+      - name: Compile Packages
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          cd ~/ws/
+          catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+        shell: bash
+
+      - name: Test Packages
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          cd ~/ws/
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+          catkin build --force-cmake --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=ON -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+          catkin test --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+           catkin_test_results --verbose --all
+        shell: bash