.github/workflows/config.yml

on:
  push:
    branches:
      - master
  pull_request:

jobs:
  ros:
    runs-on: ubuntu-latest
    container: ubuntu:20.04
    continue-on-error: ${{ matrix.experimental }}
    strategy:
      fail-fast: false
      matrix:
        include:
          - ROS_DISTRO: indigo
            USE_DEB: true
            NOT_TEST_INSTALL : true
            USE_JENKINS: true
            DOCKER_IMAGE_JENKINS: ros-ubuntu:14.04-pcl
            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install scikit-learn==0.19.1 scipy==1.2.3; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91; sudo pip install requests[socks]==2.25.1"
            experimental : false
          - ROS_DISTRO: kinetic
            USE_DEB: true
            NOT_TEST_INSTALL : true
            USE_JENKINS: true
            DOCKER_IMAGE_JENKINS: ros-ubuntu:16.04-pcl
            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91 pytesseract==0.3.6 python-dateutil==2.5.0; wget https://download.pytorch.org/whl/cu90/torch-1.1.0-cp27-cp27mu-linux_x86_64.whl -O torch-1.1.0-cp27-cp27mu-linux_x86_64.whl; wget https://download.pytorch.org/whl/cu90/torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl -O torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl; sudo pip install torch-1.1.0-cp27-cp27mu-linux_x86_64.whl torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl;"
            BUILD_PKGS: 'checkerboard_detector imagesift jsk_perception jsk_recognition_utils resized_image_transport'
            experimental : false
          - ROS_DISTRO: kinetic
            USE_DEB: true
            NOT_TEST_INSTALL : true
            USE_JENKINS: true
            DOCKER_IMAGE_JENKINS: ros-ubuntu:16.04-pcl
            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91 pytesseract==0.3.6 python-dateutil==2.5.0; wget https://download.pytorch.org/whl/cu90/torch-1.1.0-cp27-cp27mu-linux_x86_64.whl -O torch-1.1.0-cp27-cp27mu-linux_x86_64.whl; wget https://download.pytorch.org/whl/cu90/torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl -O torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl; sudo pip install torch-1.1.0-cp27-cp27mu-linux_x86_64.whl torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl;"
            BUILD_PKGS: 'jsk_pcl_ros_utils jsk_pcl_ros'
            experimental : false
          - ROS_DISTRO: melodic
            USE_DEB: true
            NOT_TEST_INSTALL : true
            USE_JENKINS: true
            DOCKER_IMAGE_JENKINS: ros-ubuntu:18.04-pcl
            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91 pytesseract==0.3.6; wget https://download.pytorch.org/whl/cu90/torch-1.1.0-cp27-cp27mu-linux_x86_64.whl -O torch-1.1.0-cp27-cp27mu-linux_x86_64.whl; wget https://download.pytorch.org/whl/cu90/torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl -O torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl; sudo pip install torch-1.1.0-cp27-cp27mu-linux_x86_64.whl torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl;"
            BUILD_PKGS: 'checkerboard_detector imagesift jsk_perception jsk_recognition_utils resized_image_transport'
            experimental : false
          - ROS_DISTRO: melodic
            USE_DEB: true
            NOT_TEST_INSTALL : true
            USE_JENKINS: true
            DOCKER_IMAGE_JENKINS: ros-ubuntu:18.04-pcl
            BEFORE_SCRIPT : "sudo pip install numpy==1.16.6; sudo pip install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==6.7.0 protobuf==3.18.0 cupy-cuda91 pytesseract==0.3.6; wget https://download.pytorch.org/whl/cu90/torch-1.1.0-cp27-cp27mu-linux_x86_64.whl -O torch-1.1.0-cp27-cp27mu-linux_x86_64.whl; wget https://download.pytorch.org/whl/cu90/torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl -O torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl; sudo pip install torch-1.1.0-cp27-cp27mu-linux_x86_64.whl torchvision-0.3.0-cp27-cp27mu-manylinux1_x86_64.whl;"
            BUILD_PKGS: 'jsk_pcl_ros_utils jsk_pcl_ros'
            experimental : false
          - ROS_DISTRO: melodic
            USE_DEB: true
            NOT_TEST_INSTALL : true
            USE_JENKINS: true
            DOCKER_IMAGE_JENKINS: ros-ubuntu:18.04-pcl
            # check https://github.com/jsk-ros-pkg/jsk_recognition/pull/2533
            BEFORE_SCRIPT : "sudo pip uninstall -y fcn chainer chainercv decorator cupy-cuda91 pytesseract==0.3.6; sudo ln -sf /bin/echo /usr/local/bin/pip; sudo ln -sf /bin/echo /usr/local/bin/pip2"
            TEST_PKGS : "jsk_recognition_msgs"
            experimental : false
          - ROS_DISTRO: noetic
            USE_DEB: false
            NOT_TEST_INSTALL : true
            USE_JENKINS: true
            DOCKER_IMAGE_JENKINS: ros-ubuntu:20.04-pcl
            BEFORE_SCRIPT : "sudo pip3 install numpy==1.17.5 scipy==1.3.3 scikit-image==0.16.2 PyWavelets==0.5.1 imageio==2.4.1 pandas==0.25.3; sudo pip3 install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==7.8.1 protobuf==3.6.1 cupy-cuda91 pytesseract==0.3.10 Pillow==9.3.0 torch==1.4.0 torchvision==0.5.0;sudo dpkg -i /workspace/.ros/data/libpcl-features1.10_1.10.0+dfsg-5ubuntu1_amd64.deb;"
            BUILD_PKGS: 'checkerboard_detector imagesift jsk_perception jsk_recognition_utils resized_image_transport'
            EXTRA_DEB: ros-noetic-pr2-description
            experimental : false
          - ROS_DISTRO: noetic
            USE_DEB: false
            NOT_TEST_INSTALL : true
            USE_JENKINS: true
            DOCKER_IMAGE_JENKINS: ros-ubuntu:20.04-pcl
            TEST_PKGS : 'jsk_pcl_ros_utils jsk_pcl_ros'
            BEFORE_SCRIPT : "sudo pip3 install numpy==1.17.5 scipy==1.3.3 scikit-image==0.16.2 PyWavelets==0.5.1 imageio==2.4.1 pandas==0.25.3; sudo pip3 install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==7.8.1 protobuf==3.6.1 cupy-cuda91 pytesseract==0.3.10 Pillow==9.3.0 torch==1.4.0 torchvision==0.5.0;sudo dpkg -i /workspace/.ros/data/libpcl-features1.10_1.10.0+dfsg-5ubuntu1_amd64.deb;"
            BUILD_PKGS: 'jsk_pcl_ros_utils jsk_pcl_ros'
            EXTRA_DEB: ros-noetic-pr2-description
            experimental : false
          - ROS_DISTRO: noetic
            USE_DEB: false
            NOT_TEST_INSTALL : true
            USE_JENKINS: true
            DOCKER_IMAGE_JENKINS: ros-ubuntu:20.04-pcl
            TEST_PKGS : 'jsk_recognition_msgs' # to skip test
            BEFORE_SCRIPT : "sudo pip3 install numpy==1.17.5 scipy==1.3.3 scikit-image==0.16.2 PyWavelets==0.5.1 imageio==2.4.1 pandas==0.25.3; sudo pip3 install fcn chainercv chainer-mask-rcnn==0.3.0 decorator==4.4.2 chainer==7.8.1 protobuf==3.6.1 cupy-cuda91 pytesseract==0.3.10 Pillow==9.3.0 torch==1.4.0 torchvision==0.5.0;sudo dpkg -i /workspace/.ros/data/libpcl-features1.10_1.10.0+dfsg-5ubuntu1_amd64.deb;"
            EXTRA_DEB: ros-noetic-pr2-description
            experimental : false


    steps:
      - name: Install latest git ( use sudo for ros-ubuntu )
        run: |
          [ -e /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ] && sudo rm /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ## fix Err https://esm.ubuntu.com trusty-infra-security/main amd64 Packages, gnutls_handshake() failed: Handshake failed
          (apt-get update && apt-get install -y sudo) || echo "OK"
          (apt-get update && apt-get install -y sudo) || echo "OK"
          sudo apt-get update
          sudo apt-get install -y software-properties-common
          sudo apt-get update
          sudo -E add-apt-repository -y ppa:git-core/ppa
          sudo apt-get update
          sudo apt-get install -y git

      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
        run: |
          set -x
          export USER=$(whoami)
          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:*" ]; then
             git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
             sudo mkdir -p /__w/
             sudo chmod 777 -R /__w/
             sudo chown -R $USER $HOME
             # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
             # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
             # ls -al /home/runner/work/_temp/_github_workflow/
          else
             git config --global --add safe.directory $GITHUB_WORKSPACE
          fi

      - name: Chcekout
        uses: actions/checkout@v2
        with:
          fetch-depth: 2

      - name: Run jsk_travis
        uses: jsk-ros-pkg/jsk_travis@master
        with:
          ROS_PARALLEL_JOBS : "-j8"
          ROS_PARALLEL_TEST_JOBS : "-j1"
          CATKIN_PARALLEL_TEST_JOBS : "-p1"
          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
          USE_DEB :  ${{ matrix.USE_DEB }}
          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
          TEST_PKGS : ${{ matrix.TEST_PKGS }}
          BUILD_PKGS : ${{ matrix.BUILD_PKGS }}
          BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}
          EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
          USE_JENKINS : ${{ matrix.USE_JENKINS }}
          DOCKER_IMAGE_JENKINS : ${{ matrix.DOCKER_IMAGE_JENKINS }}
          TIMEOUT_JENKINS : 180

# ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
  ros-o:
    runs-on: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        include:
          - DISTRO: ubuntu:22.04
            ROS_REPOSITORY_URL: https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository

    container: ${{ matrix.DISTRO }}

    env:
      DEBIAN_FRONTEND : noninteractive

    steps:
      - name: Chcekout Source
        uses: actions/checkout@v3.0.2

      - name: Setup ROS-O deb repository
        run: |
          set -x
          apt update && apt install -qq -y ca-certificates
          echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list
          apt update
          apt install -qq -y python3-rosdep2
          echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
          rosdep update

      - name: Setup catkin-tools
        run: |
          set -x
          # setup catkin tools
          apt install -qq -y python3-pip
          pip3 install catkin-tools
          # setup build tools
          apt install -qq -y cmake build-essential catkin ros-one-rosbash

      - name: Setup Workspace
        run: |
          source /opt/ros/one/setup.bash
          set -x
          # setup workspace
          mkdir -p ~/ws/src
          cd ~/ws/src
          ln -sf $GITHUB_WORKSPACE .
          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
        shell: bash

      - name: Download unreleased files
        run: |
          source /opt/ros/one/setup.bash
          set -x
          cd ~/ws/src
	  # rosinstall_generator libsiftfast --rosdistro noetic
	  git clone https://github.com/tork-a/jsk_3rdparty-release.git -b release/noetic/libsiftfast/2.1.28-1
        shell: bash

      - name: Compile Packages
        run: |
          source /opt/ros/one/setup.bash
          set -x
          cd ~/ws/
          catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
        shell: bash