fix config typo #984
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: CI | |
| # Controls when the workflow will run | |
| on: | |
| # Triggers the workflow on push or pull request events but only for the ros2-development branch | |
| push: | |
| branches: | |
| - ros2-development | |
| - ros2-master | |
| pull_request: | |
| branches: | |
| - ros2-development | |
| - ros2-master | |
| # Allows you to run this workflow manually from the Actions tab | |
| workflow_dispatch: | |
| permissions: read-all | |
| # A workflow run is made up of one or more jobs that can run sequentially or in parallel | |
| # This workflow contains a single job called "build" | |
| jobs: | |
| build: | |
| name: Build on ROS2 ${{ matrix.ros_distro }} and ${{ matrix.os }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distro: [rolling, iron, humble, foxy, jazzy] | |
| include: | |
| - ros_distro: 'rolling' | |
| os: ubuntu-24.04 | |
| - ros_distro: 'jazzy' | |
| os: ubuntu-24.04 | |
| - ros_distro: 'iron' | |
| os: ubuntu-22.04 | |
| - ros_distro: 'humble' | |
| os: ubuntu-22.04 | |
| - ros_distro: 'foxy' | |
| os: ubuntu-20.04 | |
| steps: | |
| - name: Setup ROS2 Workspace | |
| run: | | |
| mkdir -p ${{github.workspace}}/ros2/src | |
| - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4 | |
| with: | |
| path: 'ros2/src/realsense-ros' | |
| - name: Check Copyright & Line-Endings | |
| shell: bash | |
| run: | | |
| cd ${{github.workspace}}/ros2/src/realsense-ros/scripts | |
| ./pr_check.sh | |
| # [email protected] is the last version supporting foxy (EOL) | |
| # [email protected] is needed to support humble/iron/rolling/jazzy | |
| # so, seperating steps with if conditions | |
| - name: build ROS2 for foxy | |
| if: ${{ matrix.ros_distro == 'foxy' }} | |
| uses: ros-tooling/setup-ros@236ab287884fd5a314fc030e91b2017abb46719e #v0.6 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distro }} | |
| - name: build ROS2 for humble/iron/rolling/jazzy | |
| if: ${{ matrix.ros_distro != 'foxy' }} | |
| uses: ros-tooling/setup-ros@a6ce30ecca1e5dcc10ae5e6a44fe2169115bf852 #v0.7 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distro }} | |
| - name: Checkout librealsense/development | |
| uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4 | |
| with: | |
| repository: IntelRealSense/librealsense | |
| path: librealsense | |
| ref: development | |
| - name: Build RealSense SDK 2.0 (development branch) from source | |
| run: | | |
| # libusb-1.0-0-dev is needed for librealsense build in ubuntu 20.04 | |
| # This apt install command will be ignored in ubuntu 22.04 as libusb-1.0-0-dev already installed there | |
| sudo apt install -y libusb-1.0-0-dev | |
| cd ${{github.workspace}}/librealsense | |
| sudo mkdir build | |
| cd build | |
| sudo cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false | |
| sudo make uninstall | |
| sudo make clean | |
| sudo make -j10 | |
| sudo make install | |
| - name: Build RealSense ROS2 Wrapper from source | |
| run: | | |
| echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc | |
| source ${{github.workspace}}/.bashrc | |
| cd ${{github.workspace}}/ros2 | |
| echo "================= ROSDEP UPDATE =====================" | |
| rosdep update --rosdistro ${{ matrix.ros_distro }} --include-eol-distros | |
| echo "================= ROSDEP INSTALL ====================" | |
| rosdep install -i --reinstall --from-path src --rosdistro ${{ matrix.ros_distro }} --skip-keys=librealsense2 -y | |
| echo "================== COLCON BUILD ======================" | |
| # Enable 'BUILD_TOOLS' through cmake arguments. Since, this variable is available only in realsense2_camera package | |
| # and not in realsense2_camera_msgs and realsense2_description packages, to avoid warnings from these packages, | |
| # use '--no-warn-unused-cli'. Ref: https://cmake.org/cmake/help/v3.0/manual/cmake.1.html | |
| colcon build --cmake-args '-DBUILD_TOOLS=ON' --no-warn-unused-cli | |
| ## This step is commented out since we don't use rosbag files in "Run Tests" step below. | |
| ## Please uncomment when "Run Tests" step is fixed to run all tests. | |
| #- name: Download Data For Tests | |
| # if: ${{ matrix.ros_distro != 'rolling'}} | |
| # run: | | |
| # cd ${{github.workspace}}/ros2 | |
| # bag_filename="https://librealsense.intel.com/rs-tests/TestData/outdoors_1color.bag"; | |
| # wget $bag_filename -P "records/" | |
| # bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag"; | |
| # wget $bag_filename -P "records/" | |
| # sudo apt install ros-${{ matrix.ros_distro}}-launch-pytest | |
| - name: Install Packages For Foxy Tests | |
| if: ${{ matrix.ros_distro == 'foxy' }} | |
| run: | | |
| # To avoid mixing of 'apt' provided packages and 'pip' provided packages, one way is to create virtual env | |
| # and manage python packages within it. Ref: https://peps.python.org/pep-0668/ | |
| python3 -m venv .venv | |
| # Activate the virtual env such that following python related commands run within it. | |
| source .venv/bin/activate | |
| sudo apt-get install python3-pip | |
| # numpy-quaternion needs numpy<2.0.0. Chose 1.24.1 as it is the highest version that support foxy. | |
| pip3 install --force-reinstall numpy==1.24.1 | |
| pip3 install numpy-quaternion tqdm pyyaml | |
| - name: Install Packages For Humble/Iron/Rolling/Jazzy Tests | |
| if: ${{ matrix.ros_distro != 'foxy' }} | |
| run: | | |
| # To avoid mixing of 'apt' provided packages and 'pip' provided packages, one way is to create virtual env | |
| # and manage python packages within it. Ref: https://peps.python.org/pep-0668/ | |
| python3 -m venv .venv | |
| # Activate the virtual env such that following python related commands run within it. | |
| source .venv/bin/activate | |
| sudo apt-get install python3-pip | |
| # numpy-quaternion needs numpy<2.0.0. Chose 1.26.4 as it is the lowest working version for ubuntu 24.04. | |
| pip3 install --force-reinstall numpy==1.26.4 | |
| pip3 install numpy-quaternion tqdm pyyaml | |
| - name: Run Tests | |
| run: | | |
| cd ${{github.workspace}}/ros2 | |
| source ${{github.workspace}}/.bashrc | |
| . install/local_setup.bash | |
| # the next command might be needed for foxy distro, since this package is not installed | |
| # by default in ubuntu 20.04. For other distro, the apt install command will be ignored. | |
| sudo apt install -y ros-${{matrix.ros_distro}}-sensor-msgs-py | |
| source ../.venv/bin/activate | |
| python3 src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file | |
| # don't run integration tests for foxy since some testing dependecies packages like | |
| # tf_ros_py are not avaialble | |
| # TODO: check when we can run integration tests on rolling | |
| - name: Run integration tests | |
| if: ${{ matrix.ros_distro != 'rolling' && matrix.ros_distro != 'foxy' }} | |
| run: | | |
| cd ${{github.workspace}}/ros2 | |
| source ${{github.workspace}}/.bashrc | |
| . install/local_setup.bash | |
| #export ROSBAG_FILE_PATH=${{github.workspace}}/ros2/records/ | |
| colcon test --packages-select realsense2_camera --event-handlers console_direct+ | |
| colcon test-result --all --test-result-base build/realsense2_camera/test_results/ --verbose |