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humble.yml
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name: build ROS Humble (ROS 2)
on:
pull_request:
push:
branches:
- master
jobs:
build_docker:
strategy:
matrix:
ros_distro: [ humble ]
ros_repo: [ main ]
runs-on: ubuntu-22.04
env:
ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...]
CI_SOURCE_PATH: $(pwd)
ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
ROS_PARALLEL_JOBS: '-j8 -l6'
PYTHONPATH: $PYTHONPATH:/usr/lib/python3/dist-packages:/usr/local/lib/python3/dist-packages
ROS_DISTRO: humble
steps:
- uses: actions/checkout@v1
- name: Install ROS
run: |
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http:https://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt install -y \
python3-flake8-docstrings \
python3-pip \
python3-pytest-cov \
ros-dev-tools
sudo apt install -y \
python3-flake8-blind-except \
python3-flake8-builtins \
python3-flake8-class-newline \
python3-flake8-comprehensions \
python3-flake8-deprecated \
python3-flake8-import-order \
python3-flake8-quotes \
python3-pytest-repeat \
python3-pytest-rerunfailures
sudo apt-get install dpkg
sudo apt-get install -y python3-colcon-common-extensions \
python3-rosdep \
python3-wstool \
ros-$ROS_DISTRO-cv-bridge \
ros-$ROS_DISTRO-image-transport
sudo apt-get install -y ros-velodyne-pcl
sudo apt upgrade
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
- name: build
run: |
source /opt/ros/$ROS_DISTRO/local_setup.bash
mkdir -p ~/ros2_humble/src
cd ~/ros2_humble/src
ln -s ~/work # $CI_SOURCE_PATH
echo $PWD
ls
ls work/lidar_camera_calibration
mv work/lidar_camera_calibration/lidar_camera_calibration/dependencies/aruco_ros aruco_ros
mv work/lidar_camera_calibration/lidar_camera_calibration/dependencies/aruco_mapping aruco_mapping
mv work/lidar_camera_calibration/lidar_camera_calibration lidar_camera_calibration
cd ..
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-select aruco aruco_ros aruco_msgs
colcon build --symlink-install --packages-select aruco_mapping lidar_camera_calibration
colcon build --symlink-install