2024年度ゼミ #281
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| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| env: | |
| DISPLAY: ':0.0' | |
| jobs: | |
| ros: | |
| runs-on: ubuntu-latest | |
| continue-on-error: false | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - ROS_DISTRO: indigo | |
| CONTAINER: jskrobotics/ros-ubuntu:14.04-pcl | |
| NOT_TEST_INSTALL: true | |
| - ROS_DISTRO: indigo | |
| CONTAINER: jskrobotics/ros-ubuntu:14.04-pcl | |
| BEFORE_SCRIPT: "ls -al; ls -al jsk_demos/; TEST_ROBOT=pr2 ./jsk_demos/.travis.before_script.sh" | |
| TEST_PKGS : "detect_cans_in_fridge_201202 elevator_move_base_pr2 interactive_behavior_201409 jsk_2011_07_pr2_semantic jsk_2013_04_pr2_610 jsk_demo_common jsk_maps" | |
| NOT_TEST_INSTALL: true | |
| - ROS_DISTRO: indigo | |
| CONTAINER: jskrobotics/ros-ubuntu:14.04-pcl | |
| BEFORE_SCRIPT: "TEST_ROBOT=fetch ./jsk_demos/.travis.before_script.sh" | |
| TEST_PKGS: "jsk_2017_10_semi jsk_maps" | |
| NOT_TEST_INSTALL: true | |
| - ROS_DISTRO: kinetic | |
| CONTAINER: jskrobotics/ros-ubuntu:16.04-pcl | |
| - ROS_DISTRO: melodic | |
| CONTAINER: jskrobotics/ros-ubuntu:18.04-pcl | |
| - ROS_DISTRO: melodic | |
| CONTAINER: jskrobotics/ros-ubuntu:18.04-pcl | |
| BEFORE_SCRIPT: "TEST_ROBOT=fetch ./jsk_demos/.travis.before_script.sh" | |
| - ROS_DISTRO: noetic | |
| CONTAINER: jskrobotics/ros-ubuntu:20.04-pcl | |
| EXTRA_DEB : "python3-rospkg python3-rospkg-modules" # drc_task_common need rospkg, but not installed | |
| USE_DEB : false | |
| container: ${{ matrix.CONTAINER }} | |
| steps: | |
| - name: Install latest git ( use sudo for ros-ubuntu ) | |
| run: | | |
| # https://github.com/osrf/docker_images/issues/697#issuecomment-1819626877 | |
| sudo apt-key del 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA || echo "OK" | |
| sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA || echo "OK" | |
| sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys AD19BAB3CBF125EA || echo "OK" | |
| [ -e /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ] && sudo rm /etc/apt/sources.list.d/ubuntu-esm-infra-$(lsb_release -cs).list ## fix Err https://esm.ubuntu.com trusty-infra-security/main amd64 Packages, gnutls_handshake() failed: Handshake failed | |
| (apt-get update && apt-get install -y sudo) || echo "OK" | |
| sudo apt-get update | |
| sudo apt-get install -y software-properties-common | |
| sudo apt-get update | |
| sudo -E add-apt-repository -y ppa:git-core/ppa | |
| sudo apt-get update | |
| sudo apt-get install -y git | |
| - name: work around permission issue # https://github.com/actions/checkout/issues/760#issuecomment-1097501613 | |
| run: | | |
| set -x | |
| export USER=$(whoami) | |
| sudo chown -R $USER $GITHUB_WORKSPACE | |
| git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok | |
| sudo mkdir -p /__w/ | |
| sudo chmod 777 -R /__w/ | |
| sudo chown -R $USER $HOME | |
| # sudo mkdir -p /home/runner/work/_temp/_github_workflow/ | |
| # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/ | |
| # ls -al /home/runner/work/_temp/_github_workflow/ | |
| - name: Chcekout | |
| uses: actions/[email protected] | |
| - name: Start X server | |
| run: | | |
| if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi | |
| echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata | |
| sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget | |
| export DISPLAY=:0 | |
| wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/dummy.xorg.conf -O /tmp/dummy.xorg.conf | |
| sudo Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile /tmp/xorg.log -config /tmp/dummy.xorg.conf $DISPLAY & | |
| sleep 3 # wait x server up | |
| export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI | |
| xhost +local:root | |
| shell: bash | |
| - name: Run jsk_travis | |
| uses: jsk-ros-pkg/jsk_travis@master | |
| with: | |
| ROS_PARALLEL_JOBS : "-j8" | |
| CATKIN_PARALLEL_JOBS : "-p8" | |
| ROS_PARALLEL_TEST_JOBS : "-j8" | |
| CATKIN_PARALLEL_TEST_JOBS : "-p8" | |
| BEFORE_SCRIPT : "mkdir -p ros-${{ matrix.ROS_DISTRO }}-julius/DEBIAN; /bin/echo -e 'Package: ros-${{ matrix.ROS_DISTRO }}-julius\nVersion: 100.0.0\nArchitecture: all\nMaintainer: [email protected]\nDescription: To speedup install process\n' > ros-${{ matrix.ROS_DISTRO }}-julius/DEBIAN/control; dpkg-deb --build ros-${{ matrix.ROS_DISTRO }}-julius; sudo dpkg -i ./ros-${{ matrix.ROS_DISTRO }}-julius.deb; ${{ matrix.BEFORE_SCRIPT }}" | |
| ROS_DISTRO : ${{ matrix.ROS_DISTRO }} | |
| USE_DEB : ${{ matrix.USE_DEB }} | |
| NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }} | |
| TEST_PKGS : ${{ matrix.TEST_PKGS }} | |
| EXTRA_DEB : ${{ matrix.EXTRA_DEB }} |