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config.yml
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on:
push:
branches:
- master
pull_request:
env:
DISPLAY: ':0.0'
jobs:
ros:
runs-on: ubuntu-latest
# continue-on-error: ${{ matrix.experimental }}
strategy:
fail-fast: false
matrix:
include:
- ROS_DISTRO: indigo
CONTAINER: jskrobotics/ros-ubuntu:14.04
USE_DEB: false
NOT_TEST_INSTALL : true
TEST_PKGS : "jsk_robot_startup" # app_manager required to pass jsk_fetch test, so this job mainly test if we can build sources
BEFORE_SCRIPT : "echo 'ros-indigo-pepper-meshes ros-pepper-meshes/accepted-ros-pepper-meshes boolean true' | sudo debconf-set-selections; sudo apt-get install -y -qq ros-indigo-pepper-meshes; echo 'ros-indigo-nao-meshes ros-nao-meshes/accepted-ros-nao-meshes boolean true' | sudo debconf-set-selections; sudo apt-get install -y -qq ros-indigo-nao-meshes; apt-get download ros-indigo-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-indigo-julius*.deb; sudo dpkg --force-all -i ros-indigo-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-indigo-julius" # to install pepper_meshes, nao_meshes, the licenses have to be accepted
- ROS_DISTRO: kinetic
CONTAINER: jskrobotics/ros-ubuntu:16.04
USE_DEB: false
NOT_TEST_INSTALL : true
BEFORE_SCRIPT : "wstool merge jsk_robot/jsk_fetch_robot/jsk_fetch_user.rosinstall.kinetic; wstool update; apt-get download ros-kinetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-kinetic-julius*.deb; sudo dpkg --force-all -i ros-kinetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-kinetic-julius; git clone https://github.com/k-okada/denso_robot_ros.git; (cd ..; git clone https://github.com/k-okada/cobotta_descriptions.git); (cd denso_robot_ros/denso_robot_descriptions; cp -r ../../../cobotta_descriptions/cobotta_description . )"
EXTRA_DEB : "ros-kinetic-convex-decomposition ros-kinetic-ivcon"
- ROS_DISTRO: melodic
CONTAINER: jskrobotics/ros-ubuntu:18.04
USE_DEB: false
NOT_TEST_INSTALL : true
BEFORE_SCRIPT : "apt-get download ros-melodic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-melodic-julius*.deb; sudo dpkg --force-all -i ros-melodic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-melodic-julius; git clone https://github.com/k-okada/denso_robot_ros.git; (cd ..; git clone https://github.com/k-okada/cobotta_descriptions.git); (cd denso_robot_ros/denso_robot_descriptions; cp -r ../../../cobotta_descriptions/cobotta_description . )"
- ROS_DISTRO: melodic
CONTAINER: jskrobotics/ros-ubuntu:18.04
USE_DEB: false
NOT_TEST_INSTALL : true
# The only difference between melodic.yml and melodic_jsk_pr2eus_master.yml is here
# We checkout jsk_pr2eus to master branch to test the latest jsk_pr2eus with jsk_robot
# https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/1397
BEFORE_SCRIPT : "apt-get download ros-melodic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-melodic-julius*.deb; sudo dpkg --force-all -i ros-melodic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-melodic-julius; git clone https://github.com/k-okada/denso_robot_ros.git; (cd ..; git clone https://github.com/k-okada/cobotta_descriptions.git); (cd denso_robot_ros/denso_robot_descriptions; cp -r ../../../cobotta_descriptions/cobotta_description . ); (cd jsk-ros-pkg/jsk_pr2eus; git stash; git checkout master);"
- ROS_DISTRO: noetic
CONTAINER: ubuntu:20.04
USE_DEB: false
NOT_TEST_INSTALL : true
TEST_PKGS : "jsk_robot_startup" # check only jsk_robot_startup
BEFORE_SCRIPT : "apt-get download ros-noetic-julius; wget -O stripdeb.sh https://gist.githubusercontent.com/jordansissel/748313/raw/8aebce360bc082e33af7bba3c90f755eb655783b/stripdeb.sh; bash stripdeb.sh ros-noetic-julius*.deb; sudo dpkg --force-all -i ros-noetic-julius*.deb; sudo apt-get -y -f install; sudo apt-mark hold ros-noetic-julius; git clone https://github.com/k-okada/denso_robot_ros.git; (cd ..; git clone https://github.com/k-okada/cobotta_descriptions.git); (cd denso_robot_ros/denso_robot_descriptions; cp -r ../../../cobotta_descriptions/cobotta_description . )"
container: ${{ matrix.CONTAINER }}
steps:
- name: Install latest git ( use sudo for ros-ubuntu )
run: |
(apt-get update && apt-get install -y sudo) || echo "OK"
sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
- name: work around permission issue # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
run: |
set -x
export USER=$(whoami)
if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:".* ]]; then
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/
fi
git config --global --add safe.directory $GITHUB_WORKSPACE
shell: bash
- name: Chcekout
uses: actions/[email protected]
with:
submodules: true
- name: Start X server
run: |
if [[ "${{ 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 : "-j2"
CATKIN_PARALLEL_JOBS : "-p2"
ROS_PARALLEL_TEST_JOBS : "-j1"
CATKIN_PARALLEL_TEST_JOBS : "-p1"
ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
USE_DEB : ${{ matrix.USE_DEB }}
NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
TEST_PKGS : ${{ matrix.TEST_PKGS }}
BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}
EXTRA_DEB : ${{ matrix.EXTRA_DEB }}