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ROS2 Humble

ROS2 Humble #326

name: ROS2 Humble
on:
pull_request:
types: [opened, synchronize, reopened, labeled, unlabeled]
push:
branches:
- main
schedule:
- cron: '0 10 * * *'
concurrency:
group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: true
jobs:
lint:
name: Lint package
runs-on: ubuntu-latest
strategy:
matrix:
config:
- { python: "3.10" }
steps:
- name: Checkout repository
uses: actions/checkout@v4
- uses: actions/setup-python@v5
with:
python-version: ${{ matrix.config.python }}
- name: Lint sources
uses: pre-commit/[email protected]
webots_spot:
name: Webots Spot with Nav2 and Moveit2
runs-on: ubuntu-22.04
steps:
- name: Checkout
uses: actions/checkout@v4
- name: Install ROS2 Humble
run: >
sudo apt update
sudo apt install -y software-properties-common
sudo add-apt-repository universe
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
| sudo apt-key add -
sudo sh -c 'echo "deb [arch=amd64,arm64]
http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" >
/etc/apt/sources.list.d/ros2-latest.list'
sudo apt update
sudo apt install -y ros-humble-ros-base
python3-colcon-common-extensions ros-dev-tools
- name: Install Webots 2023b
run: |
sudo apt update
sudo apt install -y wget dialog apt-utils psmisc lsb-release git
sudo wget https://github.com/cyberbotics/webots/releases/download/R2023b/webots_2023b_amd64.deb -O /tmp/webots.deb
sudo apt install -y /tmp/webots.deb xvfb
- name: Create Workspace
run: |
mkdir -p ~/ros2_ws/src
cp -r $GITHUB_WORKSPACE/. ~/ros2_ws/src/webots_ros2_spot
- name: Install Webots Spot Dependencies
run: |
cd ~/ros2_ws
source /opt/ros/humble/setup.bash
sudo rosdep init
rosdep update
sudo apt remove -y libmagickcore-dev
sudo apt install -y libunwind-dev graphicsmagick-libmagick-dev-compat # Nav2 dependency
rosdep install --from-paths ./ --ignore-src -y
vcs import --recursive src --skip-existing --input src/webots_ros2_spot/webots_ros2_spot.repos
chmod +x src/webots_ros2/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py
- name: Build Packages
run: |
cd ~/ros2_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install
source install/setup.bash
- name: Test
run: |
export TEST_WITH_WEBOTS_NIGTHLY=0
export WEBOTS_RELEASE_VERSION=2023b
export WEBOTS_OFFSCREEN=1
export CI=1
export DEBIAN_FRONTEND=noninteractive
cd ~/ros2_ws
source install/setup.bash
colcon test --ctest-args tests --packages-select webots_spot --event-handlers console_direct+ --return-code-on-test-failure