Add full multi-distro support for ROS 2 Humble and ROS 2 Rolling #521
Workflow file for this run
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| name: CI | |
| on: | |
| pull_request: | |
| branches: [main] | |
| push: | |
| branches: [main] | |
| jobs: | |
| build-and-test: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - ros_distro: jazzy | |
| os_image: ubuntu:noble | |
| - ros_distro: humble | |
| os_image: ubuntu:jammy | |
| container: | |
| image: ${{ matrix.os_image }} | |
| timeout-minutes: 60 | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Install Git | |
| run: | | |
| apt-get update | |
| apt-get install -y git | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up ROS 2 ${{ matrix.ros_distro }} | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distro }} | |
| - name: Install cpp-httplib from source (Humble) | |
| if: matrix.ros_distro == 'humble' | |
| run: | | |
| apt-get update | |
| apt-get install -y cmake g++ libssl-dev pkg-config | |
| git clone --depth 1 --branch v0.14.3 https://github.com/yhirose/cpp-httplib.git /tmp/cpp-httplib | |
| cd /tmp/cpp-httplib | |
| mkdir build && cd build | |
| cmake .. -DCMAKE_INSTALL_PREFIX=/usr -DHTTPLIB_REQUIRE_OPENSSL=ON | |
| make install | |
| # Verify installation — cpp-httplib from source installs cmake config (not pkg-config .pc) | |
| test -f /usr/include/httplib.h && echo "cpp-httplib installed successfully" || exit 1 | |
| - name: Install dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -y ros-${{ matrix.ros_distro }}-test-msgs | |
| # Linter tools only needed on Jazzy (clang versions differ across Ubuntu releases) | |
| if [ "${{ matrix.ros_distro }}" = "jazzy" ]; then | |
| apt-get install -y clang-format clang-tidy | |
| fi | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| rosdep update | |
| # On Humble, skip the libcpp-httplib-dev rosdep key — the apt version (0.10.3) | |
| # is too old; cpp-httplib v0.14.3 is built from source in an earlier step. | |
| if [ "${{ matrix.ros_distro }}" = "humble" ]; then | |
| rosdep install --from-paths src --ignore-src -r -y --skip-keys="libcpp-httplib-dev" | |
| else | |
| rosdep install --from-paths src --ignore-src -y | |
| fi | |
| - name: Build packages | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| colcon build --symlink-install \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Release \ | |
| --event-handlers console_direct+ | |
| - name: Run linters (clang-format, clang-tidy, etc.) | |
| if: matrix.ros_distro == 'jazzy' | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| source install/setup.bash | |
| colcon test --return-code-on-test-failure \ | |
| --ctest-args -L linter \ | |
| --event-handlers console_direct+ | |
| - name: Run unit and integration tests | |
| timeout-minutes: 15 | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| source install/setup.bash | |
| colcon test --return-code-on-test-failure \ | |
| --ctest-args -LE linter \ | |
| --event-handlers console_direct+ | |
| - name: Show test results | |
| if: always() | |
| run: colcon test-result --verbose | |
| - name: Upload test results | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: test-results-${{ matrix.ros_distro }} | |
| path: | | |
| log/ | |
| build/*/test_results/ | |
| coverage: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ubuntu:noble | |
| timeout-minutes: 30 | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Install Git | |
| run: | | |
| apt-get update | |
| apt-get install -y git | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up ROS 2 Jazzy | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: jazzy | |
| - name: Install dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -y lcov ros-jazzy-test-msgs | |
| source /opt/ros/jazzy/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build packages with coverage | |
| run: | | |
| source /opt/ros/jazzy/setup.bash | |
| colcon build --symlink-install \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=ON \ | |
| --event-handlers console_direct+ | |
| - name: Run unit and integration tests for coverage | |
| run: | | |
| source /opt/ros/jazzy/setup.bash | |
| source install/setup.bash | |
| colcon test \ | |
| --ctest-args -LE linter \ | |
| --event-handlers console_direct+ | |
| - name: Generate coverage report | |
| run: | | |
| lcov --capture --directory build --output-file coverage.raw.info \ | |
| --ignore-errors mismatch,negative,empty,gcov | |
| if [ ! -s coverage.raw.info ] || ! grep -q 'SF:' coverage.raw.info; then | |
| echo "::error::No valid coverage data found in coverage.raw.info" | |
| exit 1 | |
| fi | |
| lcov --extract coverage.raw.info \ | |
| '*/ros2_medkit/src/*/src/*' \ | |
| '*/ros2_medkit/src/*/include/*' \ | |
| --output-file coverage.info \ | |
| --ignore-errors unused,empty | |
| if [ ! -s coverage.info ]; then | |
| echo "::error::Filtered coverage.info is empty - no source files matched" | |
| exit 1 | |
| fi | |
| lcov --list coverage.info | |
| genhtml coverage.info --output-directory coverage_html --ignore-errors source | |
| - name: Upload coverage HTML report as artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: coverage-report | |
| path: coverage_html/ | |
| - name: Upload coverage to Codecov | |
| if: github.event_name == 'push' && github.ref == 'refs/heads/main' | |
| uses: codecov/codecov-action@v5 | |
| with: | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| files: coverage.info | |
| flags: unittests,integration | |
| name: ros2_medkit-coverage | |
| fail_ci_if_error: true | |
| verbose: true |