ci no symlink

.github/workflows/build_and_test_humble.yaml

@@ -28,16 +28,11 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: ros-tooling/[email protected]
-        #with:
-        #  use-ros2-testing: true
-      - uses: ros-tooling/[email protected]
+        with:
+          use-ros2-testing: true
+      - uses: ros-tooling/[email protected]      # symlink-install option
         with:
           skip-tests: true
           target-ros2-distro: humble
-          colcon-defaults: |
-            {
-              "build": {
-                "symlink-install": false
-              }
-            }
+          no-symlink-install: true
           vcs-repo-file-url: dependencies.repos

.github/workflows/build_and_test_iron.yaml

@@ -28,16 +28,12 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: ros-tooling/[email protected]
-        #with:
-        # use-ros2-testing: true
-      - uses: ros-tooling/[email protected]
+        with:
+          use-ros2-testing: true
+      #- uses: ros-tooling/[email protected]
+      - uses: ros-tooling/[email protected]      # symlink-install option
         with:
           skip-tests: true
           target-ros2-distro: iron
-          colcon-defaults: |
-            {
-              "build": {
-                "symlink-install": false
-              }
-            }
+          no-symlink-install: true
           vcs-repo-file-url: dependencies.repos

.github/workflows/build_and_test_rolling.yaml

@@ -31,7 +31,9 @@ jobs:
         with:
           use-ros2-testing: true
       - uses: ros-tooling/action-ros-ci@master
+      #- uses: ros-tooling/action-ros-ci@christophebedard/option-symlink-install  
         with:
           skip-tests: true
           target-ros2-distro: rolling
+          no-symlink-install: true
           vcs-repo-file-url: dependencies.repos

README.md

@@ -1,5 +1,5 @@
-[![Build (humble)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_humble.yaml/badge.svg)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_humble.yaml)
-[![Build (iron)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_iron.yaml/badge.svg)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_iron.yaml)
+[![Build and test (humble)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_humble.yaml/badge.svg)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_humble.yaml)
+[![Build and test (iron)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_iron.yaml/badge.svg)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_iron.yaml)
 [![Build (rolling)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_rolling.yaml/badge.svg)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_rolling.yaml)
 
 # nao_pos
@@ -13,8 +13,3 @@ The main new features are two:
 - Implementing the request to play a movement as a **ROS2 action**. This gives much more control on the execution and more flexibility.
 - Thanks to a new format for describing the gestures, it is possibile to **actuate any subset of the joints**, while before for each gesture you had to take the control of the whole robot. This gives much more flexibility and allows different programs to move the joints if necessary.
 
-
-### Note on CI
-
-The failing status is due to the colcon `--symlink-install` option that [action-ros-ci](https://github.com/ros-tooling/action-ros-ci) uses. At the moment the symlinking cannot be disabled but we are actively working with action-ros-ci maintainers (see issue [815](https://github.com/ros-tooling/action-ros-ci/issues/815)). 
-

nao_pos_interfaces/CMakeLists.txt

@@ -16,14 +16,14 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 #ament_export_dependencies(rosidl_default_runtime)
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
+  #find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
   # comment the line when a copyright and license is added to all source files
   set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
   # comment the line when this package is in a git repo and when
   # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
+  #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 

nao_pos_interfaces/package.xml

@@ -11,6 +11,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_clang_format</test_depend>
 
   <build_depend>rosidl_default_generators</build_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>

nao_pos_server/CMakeLists.txt

@@ -189,13 +189,17 @@ install(DIRECTORY
 )
 
 
-# Test
-#if(BUILD_TESTING)
-#  find_package(ament_cmake_gtest REQUIRED)
-#  add_subdirectory(test)
-
-#  find_package(ament_lint_auto REQUIRED)
-#  ament_lint_auto_find_test_dependencies()
-#endif()
+#################### TEST ###############################
+if(BUILD_TESTING)
+find_package(ament_lint_auto REQUIRED)
+# the following line skips the linter which checks for copyrights
+# comment the line when a copyright and license is added to all source files
+#set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
 ament_package()

nao_pos_server/package.xml

@@ -9,6 +9,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_clang_format</test_depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_components</depend>
@@ -18,8 +21,7 @@
   <depend>ament_index_cpp</depend>
   <depend>nao_pos_interfaces</depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+
 
   <export>
     <build_type>ament_cmake</build_type>