soss/.github/workflows/ci.yml at master · RAMLABNL/soss · GitHub

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name: CI for eProsima Integration Service

on:
  push:
    branches:
      - main
    paths-ignore:
      - '**.md'
      - 'examples/basic/*'
      - 'examples/wan_tunneling/*'
      - 'docs/**'

  pull_request:
    branches:
      - '**'
    paths-ignore:
      - '**.md'
      - 'examples/basic/*'
      - 'examples/wan_tunneling/*'
      - 'docs/**'

jobs:
  integration-service_CI:
    strategy:
      matrix:
        node: [foxy, galactic]
    runs-on: ubuntu-20.04
    container: ros:${{ matrix.node }}

    steps:
      - uses: actions/checkout@v2
        with:
          path: src/integration-service

      - name: Download required dependencies
        run: |
          apt update
          DEBIAN_FRONTEND=noninteractive apt install -y curl git libboost-dev libboost-program-options-dev libyaml-cpp-dev libwebsocketpp-dev libssl-dev libcurlpp-dev libasio-dev libcurl4-openssl-dev ros-${{ matrix.node }}-fastrtps ros-${{ matrix.node }}-rmw-fastrtps-cpp

      - name: Download and install ROS 1 Noetic
        run: |
          echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
          apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
          curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
          apt update && apt install -y ros-noetic-ros-base

      - name: Download xTypes
        run: |
          git clone --recursive https://github.com/eProsima/xtypes.git src/xtypes

      - name: Download the Integration Service Fast DDS SystemHandle
        run: |
          git clone https://github.com/eProsima/FastDDS-SH.git src/fastdds-sh

      - name: Download the Integration Service ROS 1 SystemHandle
        run: |
          git clone https://github.com/eProsima/ROS1-SH.git src/ros1-sh

      - name: Download the Integration Service ROS 2 SystemHandle
        run: |
          git clone https://github.com/eProsima/ROS2-SH.git src/ros2-sh

      - name: Download the Integration Service WebSocket SystemHandle
        run: |
          git clone https://github.com/eProsima/WebSocket-SH.git src/websocket-sh

      - name: Download the Integration Service FIWARE SystemHandle
        run: |
          git clone https://github.com/eProsima/FIWARE-SH.git src/fiware-sh

      - name: Install ROS 1 example_interfaces package
        working-directory: ./src/integration-service/examples/utils/ros1/catkin_ws
        run: |
          . /opt/ros/noetic/setup.sh
          catkin_make -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install

      - name: Build
        run: |
          . /opt/ros/${{ matrix.node }}/setup.sh
          colcon build --packages-skip-regex is-ros1 --cmake-args -DCMAKE_BUILD_TYPE=DEBUG -DBUILD_TESTS=ON -DIS_ROS2_DISTRO=${{ matrix.node }} --event-handlers console_direct+
          . /opt/ros/noetic/setup.sh
          colcon build --cmake-args -DCMAKE_BUILD_TYPE=DEBUG -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON -DIS_ROS2_DISTRO=${{ matrix.node }} --event-handlers console_direct+

      - name: Test the Integration Service Core
        run: |
          colcon test --packages-select is-core --event-handlers console_direct+
          colcon test-result

      - name: Test the Integration Service Fast DDS SystemHandle
        run: |
          . /opt/ros/${{ matrix.node }}/setup.sh
          colcon test --packages-select is-fastdds --event-handlers console_direct+
          colcon test-result

      - name: Test the Integration Service ROS 1 SystemHandle
        run: |
          . /opt/ros/noetic/setup.sh
          roscore &
          echo "Waiting until roscore has been launched..."
          sleep 5
          . install/local_setup.sh
          colcon test --packages-select is-ros1 --event-handlers console_direct+
          colcon test-result

      - name: Test the Integration Service ROS 2 SystemHandle
        run: |
          . /opt/ros/${{ matrix.node }}/setup.sh
          . install/setup.sh
          RMW_IMPLEMENTATION=rmw_fastrtps_cpp colcon test --packages-select is-ros2 --event-handlers console_direct+
          colcon test-result

      - name: Test the Integration Service WebSocket SystemHandle
        run: |
          colcon test --packages-select is-websocket --event-handlers console_direct+
          colcon test-result

      #- name: Test the Integration Service FIWARE SystemHandle
      #  run: |
      #    colcon test --packages-select is-fiware --event-handlers console_direct+
      #    colcon test-result