ROS Workflows (#18)

Author: amock

.github/workflows/ros2_humble.yml

@@ -0,0 +1,20 @@
+name: ros2_humble
+
+on:
+  push:
+    branches:
+      - 'main'
+  pull_request:
+    branches:
+      - 'main'
+  workflow_dispatch:
+    branches:
+      - '*'
+
+jobs:
+  humble:
+    name: ros2-humble
+    uses: ./.github/workflows/ros2_template.yml
+    with:
+      docker_base_image: rostooling/setup-ros-docker:ubuntu-jammy-latest
+      ros_distro: humble

.github/workflows/ros2_jazzy.yml

@@ -0,0 +1,20 @@
+name: ros2_jazzy
+
+on:
+  push:
+    branches:
+      - 'main'
+  pull_request:
+    branches:
+      - 'main'
+  workflow_dispatch:
+    branches:
+      - '*'
+
+jobs:
+  jazzy:
+    name: ros2-jazzy
+    uses: ./.github/workflows/ros2_template.yml
+    with:
+      docker_base_image: rostooling/setup-ros-docker:ubuntu-noble-latest
+      ros_distro: jazzy

.github/workflows/ros2_template.yml

@@ -0,0 +1,57 @@
+name: ros2_template
+
+on:
+  workflow_call:
+    inputs:
+      docker_base_image:
+        required: true
+        type: string
+      ros_distro:
+        required: true
+        type: string
+
+jobs:
+  colcon-build:
+    name: build
+    runs-on: ubuntu-latest
+
+    container:
+      image: ${{ inputs.docker_base_image }}
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Build
+        id: action_ros_ci_step
+        uses: ros-tooling/action-ros-ci@v0.4
+        with:
+          package-name: rmcl rmcl_msgs rmcl_ros
+          target-ros2-distro: ${{ inputs.ros_distro }}
+          vcs-repo-file-url: $GITHUB_WORKSPACE/source_dependencies.yaml
+          rosdep-check: true
+          no-symlink-install: true
+          skip-tests: true
+
+  colcon-test:
+    name: test
+    runs-on: ubuntu-latest
+    needs: colcon-build
+
+    container: 
+      image: ${{ inputs.docker_base_image }}
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      # TODO: Figure out how to reuse the state from the colcon-build job
+      - name: Test
+        uses: ros-tooling/action-ros-ci@v0.4
+        with:
+          package-name: rmcl rmcl_msgs rmcl_ros
+          target-ros2-distro: ${{ inputs.ros_distro }}
+          vcs-repo-file-url: $GITHUB_WORKSPACE/source_dependencies.yaml
+          rosdep-check: true
+          no-symlink-install: true
+          skip-tests: false

README.md

@@ -117,11 +117,12 @@ Clone this repository into your ROS workspace and build it.
 colcon build
 ```
 
-### Branch Compatibility
+### Distro Compatibility
 
-|  RMCL Branch    |  Supported ROS 2 versions    |
-|:----|:----|
-|  main   |  humble, jazzy |
+| Distro | OS | Architecture | Build | Tests |
+| ------ | -- | ------------ | ----- | ----- |
+| Humble | Ubuntu 22.04 | x86\_64 | [![ros2-humble build](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-humble%20%2F%20build)](https://github.com/uos/rmcl/actions/workflows/ros2_humble.yml) | [![ros2-humble tests](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-humble%20%2F%20tests)](https://github.com/uos/rmcl/actions/workflows/ros2_humble.yml) |
+| Jazzy | Ubuntu 24.04 | x86\_64 | [![ros2-jazzy build](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-jazzy%20%2F%20build)](https://github.com/uos/rmcl/actions/workflows/ros2_jazzy.yml) | [![ros2-jazzy tests](https://img.shields.io/github/check-runs/uos/rmcl/main?checkName=ros2-jazzy%20%2F%20tests)](https://github.com/uos/rmcl/actions/workflows/ros2_jazzy.yml) |
 
 ## Mesh Navigation
 

rmcl/CMakeLists.txt

@@ -37,7 +37,7 @@ if (NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt)
   endif()
 endif()
 
-set_property(GLOBAL PROPERTY USE_FOLDERS On)
+set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 set_property(GLOBAL PROPERTY FIND_LIBRARY_USE_LIB64_PATHS ON)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
@@ -51,7 +51,6 @@ set(CMAKE_TMP_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/tmp)
 
 list(APPEND CMAKE_MODULE_PATH ${rmcl_SOURCE_DIR}/cmake)
 
-
 find_package(TBB REQUIRED)
 if(TARGET TBB::tbb)
     set(TBB_INCLUDE_DIRS "")
@@ -61,7 +60,7 @@ endif()
 # only print warning for Rmagine version greater than RMAGINE_MAX_VERSION
 set(RMAGINE_MAX_VERSION "2.5.0")
 
-find_package(rmagine 2.4.0
+find_package(rmagine 2.4
     COMPONENTS
         core
     OPTIONAL_COMPONENTS

rmcl_msgs/msg/PolarCoord.msg

@@ -1,5 +1,5 @@
 # RANGE: range
-# PHI: vertical, y-rot, pitch, polar angle 
+# PHI: vertical, y-rot, pitch, polar angle
 # THETA: horizontal, z-rot, yaw, azimuth
 float32 phi
 float32 theta

rmcl_ros/CMakeLists.txt

@@ -48,7 +48,7 @@ find_package(visualization_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 
 
-find_package(rmagine 2.4.0
+find_package(rmagine 2.4
     COMPONENTS
         core
     OPTIONAL_COMPONENTS
@@ -59,7 +59,7 @@ find_package(rmagine 2.4.0
         vulkan-cuda-interop
 )
 
-find_package(rmcl 2.4.0 REQUIRED)
+find_package(rmcl 2.4 REQUIRED)
 include_directories(${rmcl_INCLUDE_DIR})
 
 # TODO: we can do this better. maybe put definitions to each target?