Add colcon CI

Signed-off-by: Ryan Friedman <[email protected]>

.github/workflows/colcon.yml

@@ -0,0 +1,64 @@
+---
+name: colcon build/test
+
+on:
+ pull_request:
+ push:
+ branches: [humble]
+
+concurrency:
+ group: ci-${{github.workflow}}-${{ github.ref }}
+ cancel-in-progress: true
+
+jobs:
+ build-test:
+ runs-on: ubuntu-22.04
+ container: ardupilot/ardupilot-dev-ros:latest
+ strategy:
+ fail-fast: false # don't cancel if a job from the matrix fails
+ steps:
+ # git checkout the PR
+ - uses: actions/checkout@v4
+ with:
+ submodules: 'recursive'
+ path: src/ardupilot_ros
+ # https://ardupilot.org/dev/docs/ros2.html#installation-ubuntu
+ - name: Pull in repos with vcs
+ run: |
+ cd src
+ apt update && apt -y install wget python3-pip
+ wget --progress=dot:giga https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos
+ vcs import --recursive --debug --shallow --skip-existing < ros2_gz.repos
+ - name: Install rosdep dependencies
+ shell: 'bash'
+ run: |
+ apt update
+ apt install python3
+ rosdep update
+ # Workaround for flake8 attribute error
+ # https://github.com/ArduPilot/ardupilot/pull/24277#issuecomment-1632833433
+ python3 -m pip install flake8==3.7.9
+ source /opt/ros/humble/setup.bash
+ rosdep install --from-paths src --ignore-src --default-yes --skip-keys "pynput gz-sim7 gz-cmake3 gz-plugin2 gz-common5"
+ - name: Install MAVProxy
+ run: |
+ # Install this specific version just to prevent rolling updates.
+ # These are the latest available
+ python3 -m pip install MAVProxy==1.8.67
+ - name: Install local pymavlink
+ working-directory: ./src/ardupilot/modules/mavlink/pymavlink
+ run: |
+ pip install . -U --user
+ - name: Build with colcon
+ shell: 'bash'
+ run: |
+ source /opt/ros/humble/setup.bash
+ colcon build --packages-up-to ardupilot_dds_tests --cmake-args -DBUILD_TESTING=ON
+ - name: Test with colcon
+ shell: 'bash'
+ run: |
+ source install/setup.bash
+ colcon test --packages-select ardupilot_dds_tests --event-handlers=console_cohesion+
+ - name: Report colcon test results
+ run: |
+ colcon test-result --all --verbose