ubuntu_20_04.yml

name: Ubuntu 20.04 Noetic install

on:
  push:
  workflow_dispatch:

jobs:
  build-ros-noetic:
    runs-on: ubuntu-20.04

    env:
      ACCEPT_EULA: true
      ROSCONSOLE_FORMAT: '[${severity}] [${time} ${node} ${shortfile}:${line}]: ${message}'
      ROS_DISTRO: noetic
      ROS_CI_DESKTOP: "`lsb_release -cs`"  # e.g. [trusty|xenial|...]
      DEST: /home/runner/work/other/ros_comm/ros_comm/other/install

    steps:

      - name: git clone this repo
        uses: actions/checkout@v4
        with:
          path: install_catkin_ws/src/ros_comm

      - name: find files with trailing whitespace
        run: |
          ls -l
          cd install_catkin_ws/src
          # TODO(lucasw) too many to exclude
          # ! find * -type f -regextype posix-extended -regex '.*\.(cpp|csv|h|hpp|json|launch|md|msg|perspective|py|rviz|sh|test|txt|urdf|xacro|xml|yaml)' -exec egrep -l " +$" {} \; | grep .

      - name: find files with windows line endings
        run: |
          cd install_catkin_ws/src
          ! grep -IUr --exclude-dir='.*' --color $'\r' -l src

      - name: Setup for ROS install
        run: |
          sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
          sudo apt-get update -y

      - name: install packages missing from container
        run: |
          sudo apt-get -qq update
          sudo apt-get install -yqq git
          sudo apt-get install -yqq unzip
          sudo apt-get install -yqq wget
          sudo apt-get install -yqq libgtest-dev

      - name: Install non-ROS dependencies
        run: |
          sudo apt-get install -yqq libboost-dev
          sudo apt-get install -yqq libb64-dev
          sudo apt-get install -yqq libeigen3-dev
          sudo apt-get install -yqq libfmt-dev
          sudo apt-get install -yqq libgmock-dev
          sudo apt-get install -yqq python3-numpy
          sudo apt-get install -yqq python3-vcstool

      - name: Install ROS basic packages
        run: |
          sudo apt-get install -yqq catkin-lint
          sudo apt-get install -yqq python3-catkin-pkg
          sudo apt-get install -yqq python3-catkin-tools
          sudo apt-get install -yqq python3-rosdep
          sudo apt-get install -yqq python3-rospkg
          sudo apt-get install -yqq python3-wstool
          sudo apt-get install -yqq python3-osrf-pycommon
          sudo apt-get install -yqq ros-cmake-modules
          sudo apt-get install -yqq ros-$ROS_DISTRO-ros-base
          sudo apt-get install -yqq ros-noetic-catkin
          source /opt/ros/$ROS_DISTRO/setup.bash
          catkin_test_results
          sudo rosdep init
          rosdep update

      - name: Install ROS additional packages with rosdep
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          cd install_catkin_ws
          rosdep install --from-paths src --ignore-src -r -s  # do a dry-run first
          rosdep install --from-paths src --ignore-src -r -y

      - name: catkin config
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          echo $CMAKE_PREFIX_PATH
          cd install_catkin_ws
          catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -DCMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES=$DEST/include -DCMAKE_CXX_STANDARD=17

      - name: catkin build
        run: |
          cd install_catkin_ws
          source /opt/ros/$ROS_DISTRO/setup.bash
          export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEST:$DEST/lib/cmake
          catkin build --no-status

      - name: build with catkin_make
        run: |
          # TODO(lucasw) catkin_make works better for test output
          mkdir catkin_make_ws
          cd catkin_make_ws
          ln -s ../install_catkin_ws/src
          source /opt/ros/$ROS_DISTRO/setup.bash
          catkin_make

      - name: run tests with catkin_make
        run: |
          cd catkin_make_ws
          source devel/setup.bash
          catkin_make run_tests

      - name: get test results
        run: |
          cd catkin_make_ws
          source devel/setup.bash
          catkin_test_results

      - name: tar up install_catkin_ws
        run: |
          tar cvzf install_catkin_ws.tgz install_catkin_ws/install
          ls -l

      - name: update install_catkin_ws.tgz
        uses: actions/upload-artifact@v4
        with:
          name: install_catkin_ws
          path: install_catkin_ws.tgz

      - name: roslint
        run: |
          cd install_catkin_ws
          source install/setup.bash
          # currently no packages depend on roslint
          catkin build $(catkin list --depends-on roslint -u) --no-status --no-deps --catkin-make-args roslint || true
          LINT_CFG="-W2 --error unsorted_list --ignore uninstalled_script --error launch_depend --error description_meaningless"
          # ignore errors from this for now
          catkin_lint src $LINT_CFG || true