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* separate branch for humble * humble dockerfile update * galactic dockerfile update * foxy dockerfile * Galactic dockerfile (#167) * separate branch for humble * humble dockerfile update * update readme * galactic dockerfile update * updated dockerfile and workflow * formatting * typo * update versions * typo * try different naming scheme * add required ros distro * typo * latest to 22.04 * separate clang format * different argument format * update lint version * update setup ros as well * lint cmakelists * update workflow * remove gcc10 from dockerfile * Revert "remove gcc10 from dockerfile" This reverts commit ca4d011. * remove gcc10 in dockerfile * Humble dockerfile (#166) * humble dockerfile update * update readme * updated dockerfile and workflow * formatting * typo * update versions * typo * try different naming scheme * add required ros distro * typo * latest to 22.04 * separate clang format * different argument format * update lint version * update setup ros as well * lint cmakelists * update workflow * remove gcc10 in dockerfile * use env variables for distro * update readme * changing platform syntax * remove platform var * syntax change again * syntax again * reword * reword * minor typo * add colcon sequential arg * rewording * change platform * minor arg change * cmakelists format * minor typo
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| Original file line number | Diff line number | Diff line change |
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@@ -6,117 +6,115 @@ on: | |
| push: | ||
| branches: | ||
| - main | ||
| - devel | ||
| - humble | ||
| - galactic | ||
| - foxy | ||
| tags: | ||
| - 'v*' | ||
| pull_request: | ||
| branches: | ||
| - main | ||
| - devel | ||
| - humble | ||
| - galactic | ||
| - foxy | ||
| env: | ||
| ROS_DISTRO: foxy | ||
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| jobs: | ||
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| style: | ||
| clang-format-lint: | ||
| name: ament_clang_format | ||
| runs-on: ubuntu-20.04 | ||
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||
| strategy: | ||
| fail-fast: false | ||
| steps: | ||
| - uses: actions/checkout@v2 | ||
|
|
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| - name: Clang-Format lint | ||
|
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| uses: DoozyX/clang-format-lint[email protected] | ||
| - uses: actions/checkout@v2.3.4 | ||
| - uses: ros-tooling/[email protected] | ||
| with: | ||
| required-ros-distributions: ${{ env.ROS_DISTRO }} | ||
| - uses: ros-tooling/action-ros2-lint@0.1.3 | ||
| with: | ||
| source: '.' | ||
| extensions: 'h,hpp,c,cpp' | ||
| clangFormatVersion: 10 | ||
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||
| ROS1-build: | ||
| runs-on: ${{ matrix.os }} | ||
| distribution: ${{ env.ROS_DISTRO }} | ||
| linter: clang_format | ||
| arguments: --config ./.clang-format | ||
| package-name: | | ||
| depthai_bridge | ||
| depthai_examples | ||
| depthai_ros_msgs | ||
| depthai_ros | ||
| linting: | ||
| name: ament_${{ matrix.linter }} | ||
| runs-on: ubuntu-20.04 | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| os: [ubuntu-18.04, ubuntu-20.04] | ||
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| linter: [xmllint, pep257, lint_cmake] | ||
| steps: | ||
| - uses: actions/checkout@v2 | ||
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| - name: Melodic build | ||
| if: matrix.os == 'ubuntu-18.04' | ||
| uses: ros-tooling/[email protected] | ||
| with: | ||
| required-ros-distributions: melodic | ||
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| - name: Noetic build | ||
| if: matrix.os == 'ubuntu-20.04' | ||
| uses: ros-tooling/[email protected] | ||
| with: | ||
| required-ros-distributions: noetic | ||
|
|
||
| - name: Installing libusb | ||
| run: sudo apt-get install libusb-1.0-0-dev | ||
|
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||
| - name: Installing DepthAi Core | ||
| run: sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/$GITHUB_SHA/install_dependencies.sh | sudo bash | ||
|
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||
| - name: Build depthai-bridge melodic | ||
| if: matrix.os == 'ubuntu-18.04' | ||
| uses: ros-tooling/[email protected] | ||
| with: | ||
| # vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/examples.repos" | ||
| # package-name: depthai_examples | ||
| target-ros1-distro: melodic | ||
| skip-tests: true | ||
|
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||
| - name: Build depthai-bridge noetic | ||
| if: matrix.os == 'ubuntu-20.04' | ||
| uses: ros-tooling/[email protected] | ||
| with: | ||
| # vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/examples.repos" | ||
| # package-name: depthai_examples | ||
| target-ros1-distro: noetic | ||
| skip-tests: true | ||
|
|
||
| - uses: actions/[email protected] | ||
| - uses: ros-tooling/[email protected] | ||
| with: | ||
| required-ros-distributions: ${{ env.ROS_DISTRO }} | ||
| - uses: ros-tooling/[email protected] | ||
| with: | ||
| distribution: ${{ env.ROS_DISTRO }} | ||
| linter: ${{ matrix.linter }} | ||
| package-name: | | ||
| depthai_bridge | ||
| depthai_examples | ||
| depthai_ros_msgs | ||
| depthai_ros | ||
| ROS2-build: | ||
| docker-build: | ||
| name: Build and Upload to Docker Hub | ||
| runs-on: ubuntu-20.04 | ||
| strategy: | ||
| matrix: | ||
| ros_distribution: [foxy] | ||
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| fail-fast: false | ||
| env: | ||
| PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'luxonis/depthai-ros') && startsWith(github.ref, 'refs/tags/v') }} | ||
| steps: | ||
| - uses: actions/checkout@v2 | ||
|
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| - name: ${{ matrix.ros_distribution }} build | ||
| uses: ros-tooling/[email protected] | ||
| with: | ||
| required-ros-distributions: ${{ matrix.ros_distribution }} | ||
| - name: Checkout | ||
| uses: actions/checkout@v3 | ||
|
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||
| - name: Installing libusb | ||
| run: sudo apt-get install libusb-1.0-0-dev | ||
| - name: Set up QEMU | ||
| uses: docker/setup-qemu-action@v2 | ||
|
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||
| - name: Installing DepthAi Core | ||
| run: sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/$GITHUB_SHA/install_dependencies.sh | sudo bash | ||
|
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||
| - name: Build depthai-bridge ${{ matrix.ros_distribution }} | ||
| uses: ros-tooling/[email protected] | ||
| with: | ||
| # vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/examples.repos" | ||
| # package-name: depthai_examples | ||
| target-ros2-distro: ${{ matrix.ros_distribution }} | ||
| skip-tests: true | ||
| - name: Set up Docker Buildx | ||
| uses: docker/setup-buildx-action@v2 | ||
|
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||
| - name: Login to DockerHub | ||
| uses: docker/login-action@v1 | ||
| if: env.PUSH == 'true' | ||
| with: | ||
| username: ${{ secrets.DOCKERHUB_USER }} | ||
| password: ${{ secrets.DOCKERHUB_PASS }} | ||
| - name: Get Version | ||
| if: env.PUSH == 'true' | ||
| id: vars | ||
| run: echo ::set-output name=short_ref::${GITHUB_REF#refs/*/} | ||
|
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||
| - name: Build | ||
| uses: docker/build-push-action@v3 | ||
| if: env.PUSH == 'false' | ||
| with: | ||
| build-args: | | ||
| ROS_DISTRO=${{ env.ROS_DISTRO }} | ||
| USE_RVIZ=1 | ||
| platforms: | | ||
| amd64 | ||
| arm64 | ||
| no-cache: true | ||
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| # build_: | ||
| # runs-on: ubuntu-18.04 | ||
| # steps: | ||
| # - uses: actions/checkout@v2 | ||
| # - uses: ros-tooling/[email protected] | ||
| # with: | ||
| # required-ros-distributions: melodic | ||
| # - run: sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/noetic-devel/install_dependencies.sh | sudo bash | ||
| # - uses: ros-tooling/[email protected] | ||
| # with: | ||
| # # vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/examples.repos" | ||
| # # package-name: depthai_examples | ||
| # target-ros1-distro: melodic | ||
| # skip-tests: true | ||
| - name: Build and Push | ||
| uses: docker/build-push-action@v3 | ||
| if: env.PUSH == 'true' | ||
| with: | ||
| build-args: | | ||
| ROS_DISTRO=${{ env.ROS_DISTRO }} | ||
| USE_RVIZ=1 | ||
| platforms: | | ||
| amd64 | ||
| arm64 | ||
| push: ${{ env.PUSH }} | ||
| no-cache: true | ||
| tags: | | ||
| luxonis/depthai-ros:${{ env.ROS_DISTRO }}-${{ steps.vars.outputs.short_ref }} | ||
| luxonis/depthai-ros:${{ env.ROS_DISTRO }}-latest | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,8 @@ | ||
| export ZSH="$HOME/.oh-my-zsh" | ||
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| ZSH_THEME="robbyrussell" | ||
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| plugins=(git) | ||
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| source $ZSH/oh-my-zsh.sh | ||
|
|
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,23 @@ | ||
| ARG ROS_DISTRO=humble | ||
| FROM ros:${ROS_DISTRO}-ros-base | ||
| ARG USE_RVIZ | ||
| ARG BUILD_SEQUENTIAL=0 | ||
| ENV DEBIAN_FRONTEND=noninteractive | ||
| RUN apt-get update \ | ||
| && apt-get -y install --no-install-recommends software-properties-common git libusb-1.0-0-dev wget zsh python3-colcon-common-extensions | ||
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| ENV DEBIAN_FRONTEND=dialog | ||
| RUN sh -c "$(wget https://raw.github.com/ohmyzsh/ohmyzsh/master/tools/install.sh -O -)" | ||
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| ENV WS=/ws | ||
| RUN mkdir -p $WS/src | ||
| COPY ./ .$WS/src/depthai_ros | ||
| RUN cd .$WS/ && rosdep install --from-paths src --ignore-src -y | ||
| RUN if [ "$BUILD_SEQUENTIAL" = "1" ] ; then cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --executor sequential --cmake-args -DCMAKE_BUILD_TYPE=Release ; else cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release; fi | ||
| RUN if [ "$USE_RVIZ" = "1" ] ; then echo "RVIZ ENABLED" && sudo apt install -y ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-rviz-imu-plugin ; else echo "RVIZ NOT ENABLED"; fi | ||
| RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh; fi" >> $HOME/.zshrc | ||
| RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> $HOME/.zshrc | ||
| RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> $HOME/.zshrc | ||
| RUN echo "if [ -f ${WS}/install/setup.bash ]; then source ${WS}/install/setup.bash; fi" >> $HOME/.bashrc | ||
| ENTRYPOINT [ "/ws/src/depthai_ros/entrypoint.sh" ] | ||
| CMD ["zsh"] |
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