Add CI for ROS2. #13
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name: Build & Test | |
on: | |
push: | |
branches: [ jazzy ] | |
pull_request: | |
branches: [ jazzy ] | |
jobs: | |
Linting: | |
name: Lint Code Base | |
runs-on: ubuntu-latest | |
steps: | |
- name: Checkout Code | |
uses: actions/checkout@v4 | |
with: | |
fetch-depth: 0 | |
- name: Setup | |
run: | | |
sudo apt-get update && sudo apt-get install -y clang-format cppcheck libxml2-utils | |
- name: Lint C++ | |
run: | | |
clang-format -Werror -n -style=file $(find . -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -o -name '*.c' -o -name '*.cc') | |
- name: Check C++ | |
run: | | |
cppcheck --force --quiet --error-exitcode=1 . | |
- name: Lint package.xml | |
run: | | |
xmllint --noout --schema http://download.ros.org/schema/package_format3.xsd $(find . -name 'package.xml') | |
build-and-test: | |
needs: Linting | |
runs-on: ubuntu-latest | |
# Disable asan new-delete-type-mismatch to workaround rcutils issue | |
# https://github.com/ros2/rclcpp/issues/2220 | |
env: | |
ASAN_OPTIONS: new_delete_type_mismatch=0 | |
strategy: | |
matrix: | |
ros_distro: [humble, jazzy] | |
container: | |
image: ros:${{matrix.ros_distro}}-ros-base | |
steps: | |
- uses: ros-tooling/[email protected] | |
with: | |
required-ros-distributions: ${{ matrix.ros_distro }} | |
- uses: ros-tooling/[email protected] | |
with: | |
target-ros2-distro: ${{ matrix.ros_distro }} | |
colcon-defaults: | # Use asan to find memory issues | |
{ | |
"build": { | |
"mixin": ["asan-gcc"] | |
} | |
} |