ubuntu_22_04.yml

name: Ubuntu 22.04 build with debian ros packages along with source packages

on:
  push:
  workflow_dispatch:

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  ubuntu2204:
    strategy:
      fail-fast: false
      matrix:
        build_type: [install, devel]
        build_all: [minimal, full]

    runs-on: ubuntu-22.04
    # env:
    steps:
      - name: git clone ros_from_src
        uses: actions/checkout@v3
        with:
          path: other/src/ros_from_src

      - name: os version
        run: |
          lsb_release -a

      - name: apt update
        run: |
          sudo add-apt-repository universe
          sudo apt-get update

      - name: apt upgrade
        run: |
          echo "skip"
          # sudo apt-get upgrade

      - name: needrestart
        run: |
          sudo needrestart -v
          # sudo needrestart -r a
          # sudo systemctl restart packagekit
          # sudo systemctl restart php8.1-fpm
          # sudo systemctl restart ssh

      - name: apt library installs 1
        run: |
          sudo apt-get install -o Debug::pkgProblemResolver=true -yqq libunwind-dev
          dpkg -l | grep libunwind
          sudo apt-get install -o Debug::pkgProblemResolver=true -yqq libceres-dev
          sudo apt-get install -yqq devscripts dh-make

      - name: apt library installs 2
        run: |
          sudo apt-get install -yqq libgeographic-dev
          sudo apt-get install -yqq libgmock-dev libgoogle-glog-dev
          sudo apt-get install -yqq liborocos-bfl-dev
          sudo apt-get install -yqq libprotobuf-dev libprotoc-dev

      - name: apt library installs 3
        run: |
          sudo apt-get install -yqq libspnav-dev liburdfdom-dev
          sudo apt-get install -yqq libyaml-cpp-dev
          sudo apt-get install -yqq cython3
          sudo apt-get install -yqq freeglut3-dev
          sudo apt-get install -yqq libapriltag-dev
          sudo apt-get install -yqq libcgal-dev
          sudo apt-get install -yqq libfmt-dev
          sudo apt-get install -yqq libgsl-dev
          sudo apt-get install -yqq libhdf5-dev
          sudo apt-get install -yqq libturbojpeg0-dev
          sudo apt-get install -yqq libzmq3-dev
          sudo apt-get install -yqq ocl-icd-opencl-dev opencl-headers
          sudo apt-get install -yqq libopenvdb-dev

      - name: apt sdl installs
        run: |
          sudo apt-get install -o Debug::pkgProblemResolver=true -yqq libsdl2-* libsdl-image1.2-dev python3-sdl2
          sudo apt-get install -yqq frei0r-plugins-dev libfrei0r-ocaml-dev

      - name: apt video installs
        run: |
          sudo apt-get install -yqq libgst-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
          sudo apt-get install -yqq libuvc-dev libv4l-dev

      - name: apt qt installs
        run: |
          sudo apt-get install -yqq libqt5svg5-dev libqt5websockets5-dev libqt5x11extras5-dev libqwt-qt5-dev
          sudo apt-get install -yqq libqtav-dev

      - name: apt tool installs
        run: |
          sudo apt-get install -yqq git
          sudo apt-get install -yqq vim curl jq
          sudo apt-get install -yqq python-is-python3 python3-venv

      - name: apt ros installs
        run: |
          sudo apt-get install -yqq ros-*
          sudo apt-get install -yqq catkin-lint
          sudo apt-get install -yqq libimage-view-dev
          sudo apt-get install -yqq libpcl-ros-dev
          sudo apt-get install -yqq python3-tf2-geometry-msgs

      - name: setup
        run: |
          mkdir -p other/src
          echo "DEST=$HOME/other/install" >> $GITHUB_ENV
          # echo "$DEST/bin" >> $GITHUB_PATH
          echo PYTHON_MAJOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f1` >> $GITHUB_ENV
          echo PYTHON_MINOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f2` >> $GITHUB_ENV

      - name: setup 2
        run: |
          echo "PATH=$PATH:$DEST/bin" >> $GITHUB_ENV
          echo "PYTHONPATH=$DEST/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/site-packages/" >> $GITHUB_ENV
          echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEST/lib/cmake" >> $GITHUB_ENV

      - name: check setup
        run: |
          echo $HOME
          echo $GITHUB_PATH
          echo $PATH
          echo $PYTHONPATH

      - name: git clone vcstool
        uses: actions/checkout@v3
        with:
          repository: dirk-thomas/vcstool
          path: other/src/vcstool

      - name: vcs
        run: |
          cd other/src
          cd vcstool
          python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
          vcs --help

      - name: git clone pycommon
        uses: actions/checkout@v3
        with:
          repository: osrf/osrf_pycommon
          path: other/src/osrf_pycommon

      - name: pycommon
        run: |
          cd other/src
          cd osrf_pycommon
          python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed

      - name: git clone catkin tools
        uses: actions/checkout@v3
        with:
          repository: lucasw/catkin_tools
          path: other/src/catkin_tools
          ref: sanitize_cmake_prefix_path

      - name: catkin tools
        run: |
          cd other/src
          cd catkin_tools
          python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
          which catkin
          catkin --version

      - name: setup base_catkin_ws
        run: |
          mkdir -p ${{ matrix.build_type }}_base_catkin_ws/src
          cd ${{ matrix.build_type }}_base_catkin_ws/src
          ln -s ../../other/src/ros_from_src/ubuntu_2204/base_repos.yaml
          # need https instead of git@github
          sed -i 's/git@github.com:/https:\/\/github.com\//' base_repos.yaml
          ls -l
          vcs import --shallow < base_repos.yaml
          # show which versions were imported
          vcs export --exact
          # ignore repos that aren't yet building in 22.04
          ../../other/src/ros_from_src/ubuntu_2204/ignore.sh

      # the newer openvdb that doesn't have tbb error that the apt install version has
      - name: install build openvdb
        if: ${{ matrix.build_all == 'full' }}
        run: |
          mkdir -p other/build/openvdb
          cd other/build/openvdb
          cmake ../../../${{ matrix.build_type }}_base_catkin_ws/src/other/vdb/openvdb/ -DCMAKE_INSTALL_PREFIX=$DEST
          make -j3  # it's a slow build
          make install

      # TODO(lucasw) later have an entirely separately layer for the larger slow building packages
      - name: ignore large slow packages
        if: ${{ matrix.build_all == 'minimal' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws/src

          touch other/PlotJuggler/CATKIN_IGNORE
          touch other/plotjuggler_msgs/CATKIN_IGNORE
          touch other/plotjuggler-ros-plugins/CATKIN_IGNORE

          touch other/jsk_common/CATKIN_IGNORE
          touch other/jsk_common_msgs/CATKIN_IGNORE
          touch other/jsk_recognition/CATKIN_IGNORE
          touch other/jsk_roseus/CATKIN_IGNORE
          touch other/jsk_visualization/CATKIN_IGNORE

          touch other/fiducials/CATKIN_IGNORE

          touch other/fuse/CATKIN_IGNORE

          touch other/lvr2/CATKIN_IGNORE
          touch other/mesh_tools/CATKIN_IGNORE

          touch other/rtabmap/CATKIN_IGNORE
          touch other/rtabmap_ros/CATKIN_IGNORE

          touch ros/grid_map/CATKIN_IGNORE

          touch other/anybotics/CATKIN_IGNORE
          touch other/octomap_mapping/CATKIN_IGNORE
          touch other/octomap_ros/CATKIN_IGNORE

          touch other/vdb/CATKIN_IGNORE

      - name: devel setup
        if: ${{ matrix.build_type == 'devel' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -Wno-dev -DCMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES=$DEST/include -DCMAKE_LIBRARY_PATH=$DEST/lib

          # TODO(lucasw) lvr2 not building in devel, but could build it
          # outside of catkin entirely and install to DEST
          touch src/other/lvr2/CATKIN_IGNORE
          touch src/other/mesh_tools/CATKIN_IGNORE

      - name: install setup
        if: ${{ matrix.build_type == 'install' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -Wno-dev -DCMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES=$DEST/include -DCMAKE_LIBRARY_PATH=$DEST/lib

      # individual packages or sets of packages built separately
      # this first one sources last because nothing has been built yet
      - name: build qt_gui_core
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          catkin build --no-status qt_gui_core
          source ${{ matrix.build_type }}/setup.bash

      - name: build vdb mapping
        if: ${{ matrix.build_all == 'full' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status vdb_mapping* --verbose

      - name: build fiducials
        if: ${{ matrix.build_all == 'full' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status fiducials

      - name: build grid_map
        if: ${{ matrix.build_all == 'full' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status grid_map*

      - name: build rtabmap_ros
        if: ${{ matrix.build_all == 'full' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status rtabmap_ros

      - name: build joint_trajectory_controller
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status joint_trajectory_controller

      - name: test joint_trajectory_controller
        # TODO(lucasw) this test is slow, maybe don't do it at all
        if: ${{ (matrix.build_type == 'devel' && matrix.build_all == 'full') }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build joint_trajectory_controller --no-status --no-deps --catkin-make-args tests
          rostest joint_trajectory_controller joint_trajectory_controller.test
          # catkin test --no-status joint_trajectory_controller

      - name: test install joint_trajectory_controller
        if: ${{ (matrix.build_type == 'devel' && matrix.build_all == 'full') }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin test --no-status joint_trajectory_controller

      - name: build plotjuggler
        if: ${{ matrix.build_all == 'full' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          # Does building plotjuggler before plotjuggler_ros mess up in install?
          # catkin build --no-status plotjuggler
          catkin build --no-status plotjuggler_ros
          source ${{ matrix.build_type }}/setup.bash

      - name: build rviz
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status rviz
          source ${{ matrix.build_type }}/setup.bash

      - name: build rviz_map_plugin
        if: ${{ matrix.build_all == 'full' && matrix.build_type == 'install' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status rviz_map_plugin

      - name: build jsk
        if: ${{ matrix.build_all == 'full' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status jsk*

      - name: build fuse
        if: ${{ matrix.build_all == 'full' }}
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status fuse_models fuse_optimizers

      - name: build rest of ${{ matrix.build_type }}_base_catkin_ws
        run: |
          cd ${{ matrix.build_type }}_base_catkin_ws
          source ${{ matrix.build_type }}/setup.bash
          catkin build --no-status

      - name: tar up install_catkin_ws
        if: ${{ matrix.build_type == 'install' }}
        run: |
          tar cvzf install_catkin_ws_2204.tgz install_base_catkin_ws/install
          tar cvzf install_dest_2204.tgz $DEST
          ls -l

      - name: upload install_catkin_ws_2204.tgz
        if: ${{ matrix.build_type == 'install' }}
        uses: actions/upload-artifact@v4
        with:
          name: install_dest_2204_${{ matrix.build_all }}
          path: install_dest_2204.tgz

      - name: upload install_catkin_ws_2204.tgz
        if: ${{ matrix.build_type == 'install' }}
        uses: actions/upload-artifact@v4
        with:
          name: install_catkin_ws_2204__${{ matrix.build_all }}
          path: install_catkin_ws_2204.tgz

      - name: make a deb from the entirety of install_catkin_ws/install
        if: ${{ matrix.build_type == 'install' }}
        run: |
          cd other/src/ros_from_src/debian
          ln -s ../../../../install_base_catkin_ws/install
          dpkg-buildpackage -A -uc

      - name: upload .deb
        if: ${{ matrix.build_type == 'install' }}
        uses: actions/upload-artifact@v4
        with:
          name: install_catkin_ws_2204_${{ matrix.build_all }}.deb
          # TODO(lucasw) extract name from debian files, VERSION?
          path: other/src/ros_from_src/rosone_0.0.6-1_all.deb