WIP: Add integration with nav2 #22
Workflow file for this run
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| --- | |
| 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-get update | |
| DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y 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: Add Gazebo Apt Sources from packages.osrfoundation.org/gazebo | |
| run: | | |
| wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | |
| - name: Install rosdep dependencies | |
| shell: 'bash' | |
| run: | | |
| apt-get update | |
| DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y python3 | |
| # Rosdep sources for non-standard versions | |
| # https://gazebosim.org/docs/garden/ros_installation#using-an-specific-gazebo-version-with-ros-2 | |
| wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list | |
| 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 | |
| export GZ_VERSION=harmonic | |
| rosdep install --from-paths src --ignore-src --default-yes --skip-keys "gz-sim7 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 | |
| export GZ_VERSION=harmonic | |
| colcon build --packages-up-to ardupilot_ros ardupilot_gz_bringup --cmake-args -DBUILD_TESTING=ON | |
| - name: Test with colcon | |
| shell: 'bash' | |
| run: | | |
| source install/setup.bash | |
| colcon test --packages-select ardupilot_ros --event-handlers=console_cohesion+ | |
| - name: Report colcon test results | |
| run: | | |
| colcon test-result --all --verbose |