Run ROS2 build in CI and fix any errors (#32)

* Add ROS2 build test * DO NOT MERGE always run Signed-off-by: Ryan Friedman <[email protected]> * Switch to rosdep and vcs Signed-off-by: Ryan Friedman <[email protected]> * Run on 22.04 and public runners Signed-off-by: Ryan Friedman <[email protected]> * Remove auth since running on public Signed-off-by: Ryan Friedman <[email protected]> * debug failing clone Signed-off-by: Ryan Friedman <[email protected]> * Run from src directory Signed-off-by: Ryan Friedman <[email protected]> * Remove unused ROS 1 packages Signed-off-by: Ryan Friedman <[email protected]> * Remove debug on clone Signed-off-by: Ryan Friedman <[email protected]> * Fix cmake policy with my fork Signed-off-by: Ryan Friedman <[email protected]> * Remove tinyxml dep Signed-off-by: Ryan Friedman <[email protected]> * Add workaround for Ubuntu geographiclib packaging bug Signed-off-by: Ryan Friedman <[email protected]> * Undo workflow timing Signed-off-by: Ryan Friedman <[email protected]> * Fix yamllint errors Signed-off-by: Ryan Friedman <[email protected]> * Remove all custom cmake scripts * Rely on upstream to work properly Signed-off-by: Ryan Friedman <[email protected]> * Switch back to upstream mav_comm ros2 branch Signed-off-by: Ryan Friedman <[email protected]> --------- Signed-off-by: Ryan Friedman <[email protected]> Co-authored-by: Jaeyoung-Lim <[email protected]>
ethz-asl · Dec 8, 2023 · a43c745 · a43c745
1 parent 3e364f5
commit a43c745
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Showing 7 changed files with 40 additions and 92 deletions.
diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
@@ -1,56 +1,46 @@
+---
 name: Build Test
 on:
   push:
     branches:
-    - 'main'
+      - 'ros2'
   pull_request:
     branches:
-    - '*'
+      - '*'
 
 jobs:
   build:
-    runs-on: [self-hosted, linux]
+    runs-on: [ubuntu-22.04]
     strategy:
       fail-fast: false
       matrix:
         config:
-          # - {rosdistro: 'melodic', container: 'px4io/px4-dev-ros-melodic:2021-12-11'}
-          - {rosdistro: 'noetic', container: 'px4io/px4-dev-ros-noetic:2021-12-11'}
+          - {rosdistro: 'humble', container: 'osrf/ros:humble-desktop'}
     container: ${{ matrix.config.container }}
     steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-    - name: Install Dependencies
-      working-directory: 
-      run: |
-        apt update
-        apt install -y python3-wstool libgdal-dev ros-${{matrix.config.rosdistro}}-tf2-geometry-msgs
-      shell: bash
-    - name: Build Test
-      working-directory: 
-      run: |
-        mkdir -p $HOME/catkin_ws/src;
-        cd $HOME/catkin_ws
-        catkin init
-        catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}"
-        catkin config --merge-devel
-        cd $HOME/catkin_ws/src
-        ln -s $GITHUB_WORKSPACE
-        cd $HOME/catkin_ws
-        wstool init src src/terrain-navigation/dependencies.rosinstall
-        wstool update -t src -j4
-        rosdep update
-        rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
-        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
-        catkin build -j$(nproc) -l$(nproc) terrain_navigation_ros
-    - name: unit_tests
-      working-directory:
-      run: |
-        cd $HOME/catkin_ws/src
-        catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_ENABLE_TESTING=True
-        catkin build terrain_planner --no-deps -i --catkin-make-args tests
-        source $HOME/catkin_ws/devel/setup.bash
-        status=0 && for f in $HOME/catkin_ws/devel/lib/*/*-test; do $f || exit 1; done
-      shell: bash
+      - uses: actions/checkout@v4
+        with:
+          path: src/ethz-asl/terrain-navigation
+      - name: Check out source dependencies with vcs
+        run: |
+          vcs import --recursive --debug --shallow --skip-existing < ethz-asl/terrain-navigation/terrain-navigation.repos
+        shell: bash
+        working-directory: src
+      - name: Install binary dependencies with rosdep
+        run: |
+          apt update
+          rosdep update
+          source /opt/ros/humble/setup.bash
+          rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
+        shell: bash
+      - name: Build with colcon
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to terrain_navigation_ros
+        shell: bash
+      - name: Run tests
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon test --paths src/ethz-asl/terrain-navigation --event-handlers=console_cohesion+
+          colcon test-result --all --verbose
+        shell: bash
diff --git a/terrain_navigation/CMakeLists.txt b/terrain_navigation/CMakeLists.txt
@@ -20,11 +20,9 @@ find_package(grid_map_core REQUIRED)
 find_package(grid_map_geo REQUIRED)
 
 find_package(class_loader REQUIRED)
-find_package(console_bridge REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rosbag2_storage REQUIRED)
-find_package(tinyxml2 REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
 find_package(action_msgs REQUIRED)

diff --git a/terrain_navigation/package.xml b/terrain_navigation/package.xml
@@ -19,13 +19,11 @@
 
   <!-- <build_depend>rclcpp</build_depend> -->
   <build_depend>class_loader</build_depend>
-  <build_depend>console_bridge</build_depend>
   <build_depend>eigen</build_depend>
   <build_depend>libgdal-dev</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>rclcpp</build_depend>
   <build_depend>rosbag2_storage</build_depend>
-  <build_depend>tinyxml2</build_depend>
   <build_depend>visualization_msgs</build_depend>
 
   <build_depend>action_msgs</build_depend>

diff --git a/terrain_navigation_ros/CMakeLists.txt b/terrain_navigation_ros/CMakeLists.txt
@@ -15,7 +15,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 # list(APPEND ${PROJECT_NAME}_CONFIG_EXTRAS
 #   path/to/file.cmake"
 #   other/pathto/file.cmake"
@@ -49,6 +48,15 @@ find_package(visualization_msgs REQUIRED)
 
 find_package(Boost REQUIRED COMPONENTS serialization system filesystem)
 find_package(Eigen3 REQUIRED)
+
+if(CMAKE_SYSTEM_NAME STREQUAL Linux)
+  # Workaround for the supplied find script not being on CMake path in Ubuntu.
+  # https://bugs.launchpad.net/ubuntu/+source/geographiclib/+bug/1805173
+  if(IS_DIRECTORY /usr/share/cmake/geographiclib)
+    list(APPEND CMAKE_MODULE_PATH /usr/share/cmake/geographiclib)
+  endif()
+endif()
+
 find_package(GeographicLib REQUIRED)
 # include(CheckGeographicLibDatasets)
 

diff --git a/terrain_navigation_ros/cmake/CheckGeographicLibDatasets.cmake b/terrain_navigation_ros/cmake/CheckGeographicLibDatasets.cmake
diff --git a/terrain_navigation_ros/cmake/_FindGeographicLib.cmake b/terrain_navigation_ros/cmake/_FindGeographicLib.cmake
diff --git a/terrain_navigation_ros/package.xml b/terrain_navigation_ros/package.xml
@@ -40,7 +40,6 @@
   <build_depend>tf2_eigen</build_depend>
   <build_depend>yaml_cpp_vendor</build_depend>
 
-  <exec_depend>dynamic_reconfigure</exec_depend>
   <exec_depend>grid_map_visualization</exec_depend>
   <exec_depend>grid_map_rviz_plugin</exec_depend>
   <exec_depend>mav_planning_rviz</exec_depend>