ros2-ci.yaml

name: ROS

# This determines when this workflow is run
on:
  push:
    paths-ignore:
      - 'doc/**'
      - '.gitlab-ci.yml'
      - '.gitignore'
      - '.pre-commit-config.yaml'
      - '*.md'
      - 'LICENSE'
      - 'pyproject.toml'
      - 'package.xml'
      - 'dependencies.rosintall'
  pull_request:
    paths-ignore:
      - 'doc/**'
      - '.gitlab-ci.yml'
      - '.gitignore'
      - '.pre-commit-config.yaml'
      - '*.md'
      - 'LICENSE'
      - 'pyproject.toml'
      - 'package.xml'
      - 'dependencies.rosintall'
concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  CI:
    strategy:
      fail-fast: false
      matrix:
        env:
          - {name: "(humble, Release)", ROS_DISTRO: humble}
          - {name: "(rolling, Release)", ROS_DISTRO: rolling}
          - {name: "(iron, Release)", ROS_DISTRO: iron}
          # - {name: "(humble, clang, multi-threading, Release)", ROS_DISTRO: humble, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
          # - {name: "(rolling, clang, multi-threading, Release)", ROS_DISTRO: rolling, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
          # - {name: "(iron, clang, multi-threading, Release)", ROS_DISTRO: iron, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
          # - {name: "(humble, Debug)", ROS_DISTRO: noetic, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
          # - {name: "(rolling, Debug)", ROS_DISTRO: rolling, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
    name: ${{ matrix.env.name }}
    env:
      CCACHE_DIR: /github/home/.ccache             # Enable ccache
      UPSTREAM_WORKSPACE: dependencies.rosinstall  # to build example-robot-data from source as it's not released via the ROS buildfarm
      CTEST_OUTPUT_ON_FAILURE: 1
      BUILDER: colcon
      # This by-passes issues on importing example_robot_data module when running examples and unit tests.
      # It seems target_ws is unable to properly overlay upstream_ws.
      AFTER_SETUP_UPSTREAM_WORKSPACE: 'pip install example-robot-data --break-system-packages'
    runs-on: ubuntu-latest
    continue-on-error: true
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
      # This step will fetch/store the directory used by ccache before/after the ci run
      - uses: actions/cache@v4
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
          restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
      - uses: 'ros-industrial/industrial_ci@master'
        env: ${{ matrix.env }}