From 5593bef4994e57ab40e6ab0ab744ede9e0db36a7 Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Wed, 26 Jun 2024 00:53:07 +0000 Subject: [PATCH 1/8] Add generic humble workflow --- .github/workflows/humble.yaml | 52 +++++++++++++++++++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100644 .github/workflows/humble.yaml diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml new file mode 100644 index 00000000..3d2de58c --- /dev/null +++ b/.github/workflows/humble.yaml @@ -0,0 +1,52 @@ +name: build-xs-humble + +on: + push: + branches: + - humble + pull_request: + branches: + - humble + workflow_dispatch: + +defaults: + run: + shell: bash + +jobs: + xs-humble: + strategy: + matrix: + env: + - {ROS_DISTRO: humble, ROS_REPO: main} + runs-on: ubuntu-22.04 + env: + CCACHE_DIR: "${{ github.workspace }}/.ccache" + steps: + - name: Checkout ROS Toolboxes + uses: actions/checkout@v3 + with: + submodules: recursive + path: src/interbotix_ros_toolboxes + - name: Checkout ROS Core + uses: actions/checkout@v3 + with: + repository: interbotix/interbotix_ros_core + ref: humble + submodules: recursive + path: src/interbotix_ros_core + - name: Install non-rosdep Python dependencies + run: python3 -m pip install modern-robotics transforms3d + - name: Prepare Workspace + run: | + rm src/interbotix_ros_core/interbotix_ros_common_drivers/COLCON_IGNORE || : + rm src/interbotix_ros_core/interbotix_ros_slate/COLCON_IGNORE || : + rm src/interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE || : + rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface_msgs/COLCON_IGNORE + rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/COLCON_IGNORE + rm src/interbotix_ros_toolboxes/interbotix_io_toolbox/COLCON_IGNORE + rm src/interbotix_ros_toolboxes/interbotix_perception_toolbox/COLCON_IGNORE + - name: ROS-I CI + uses: ros-industrial/industrial_ci@master + with: + config: ${{toJSON(matrix.env)}} From e488bbf429ad4c3539b27790838c66148518689d Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Wed, 26 Jun 2024 00:53:59 +0000 Subject: [PATCH 2/8] Fix typos --- .github/workflows/humble.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml index 3d2de58c..68987582 100644 --- a/.github/workflows/humble.yaml +++ b/.github/workflows/humble.yaml @@ -1,4 +1,4 @@ -name: build-xs-humble +name: humble on: push: @@ -14,7 +14,7 @@ defaults: shell: bash jobs: - xs-humble: + humble: strategy: matrix: env: From 2a94984d38bfbe9c6c1ccc18015c824b5e0f0d32 Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Wed, 26 Jun 2024 01:19:14 +0000 Subject: [PATCH 3/8] Remove required ignore files --- .github/workflows/humble.yaml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml index 68987582..4ad362cf 100644 --- a/.github/workflows/humble.yaml +++ b/.github/workflows/humble.yaml @@ -39,9 +39,10 @@ jobs: run: python3 -m pip install modern-robotics transforms3d - name: Prepare Workspace run: | - rm src/interbotix_ros_core/interbotix_ros_common_drivers/COLCON_IGNORE || : - rm src/interbotix_ros_core/interbotix_ros_slate/COLCON_IGNORE || : - rm src/interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE || : + rm src/interbotix_ros_core/interbotix_ros_common_drivers/COLCON_IGNORE + rm src/interbotix_ros_core/interbotix_ros_slate/COLCON_IGNORE + rm src/interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE + rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_landmark_modules/COLCON_IGNORE rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface_msgs/COLCON_IGNORE rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/COLCON_IGNORE rm src/interbotix_ros_toolboxes/interbotix_io_toolbox/COLCON_IGNORE From 3d177d7103f2e12d87999c8886c064768e44d3cb Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Wed, 26 Jun 2024 01:26:53 +0000 Subject: [PATCH 4/8] Specify container --- .github/workflows/humble.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml index 4ad362cf..39540183 100644 --- a/.github/workflows/humble.yaml +++ b/.github/workflows/humble.yaml @@ -20,6 +20,8 @@ jobs: env: - {ROS_DISTRO: humble, ROS_REPO: main} runs-on: ubuntu-22.04 + container: + image: ubuntu:jammy env: CCACHE_DIR: "${{ github.workspace }}/.ccache" steps: From c9a0e23d3c4aa083666b2b8f0b5a24878b36d2f7 Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Thu, 19 Dec 2024 21:58:56 +0000 Subject: [PATCH 5/8] Remove CI container --- .github/workflows/humble.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml index 39540183..4ad362cf 100644 --- a/.github/workflows/humble.yaml +++ b/.github/workflows/humble.yaml @@ -20,8 +20,6 @@ jobs: env: - {ROS_DISTRO: humble, ROS_REPO: main} runs-on: ubuntu-22.04 - container: - image: ubuntu:jammy env: CCACHE_DIR: "${{ github.workspace }}/.ccache" steps: From e3c3ac6b85893be274e57a81b06c4b6d69a14e81 Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Thu, 19 Dec 2024 23:59:59 +0000 Subject: [PATCH 6/8] Remove launch_testing from lm modules test_depends --- .../interbotix_landmark_modules/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/interbotix_common_toolbox/interbotix_landmark_modules/package.xml b/interbotix_common_toolbox/interbotix_landmark_modules/package.xml index b6d20fe8..6168c5fd 100644 --- a/interbotix_common_toolbox/interbotix_landmark_modules/package.xml +++ b/interbotix_common_toolbox/interbotix_landmark_modules/package.xml @@ -22,7 +22,6 @@ realsense2_camera interbotix_tf_tools - launch_testing ament_lint_common ament_lint_auto From a960ffdc0e6a0192e48b00b0591d737ead14c1ee Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Fri, 20 Dec 2024 00:14:34 +0000 Subject: [PATCH 7/8] Add launch_testing to lm modules test_depends --- .github/workflows/humble.yaml | 2 +- .../interbotix_landmark_modules/package.xml | 17 +++++++++-------- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml index 4ad362cf..94f57047 100644 --- a/.github/workflows/humble.yaml +++ b/.github/workflows/humble.yaml @@ -36,7 +36,7 @@ jobs: submodules: recursive path: src/interbotix_ros_core - name: Install non-rosdep Python dependencies - run: python3 -m pip install modern-robotics transforms3d + run: pip install modern-robotics transforms3d - name: Prepare Workspace run: | rm src/interbotix_ros_core/interbotix_ros_common_drivers/COLCON_IGNORE diff --git a/interbotix_common_toolbox/interbotix_landmark_modules/package.xml b/interbotix_common_toolbox/interbotix_landmark_modules/package.xml index 6168c5fd..5c9f4bf0 100644 --- a/interbotix_common_toolbox/interbotix_landmark_modules/package.xml +++ b/interbotix_common_toolbox/interbotix_landmark_modules/package.xml @@ -8,22 +8,23 @@ BSD-3-Clause Luke Schmitt - rclpy geometry_msgs - tf2_ros - tf2_geometry_msgs - visualization_msgs interbotix_common_modules interbotix_perception_modules - launch launch_ros - tf_transformations + launch python3-transforms3d + rclpy realsense2_camera + tf_transformations + tf2_geometry_msgs + tf2_ros + visualization_msgs - interbotix_tf_tools - ament_lint_common ament_lint_auto + ament_lint_common + interbotix_tf_tools + launch_testing ament_python From e110c1a720f3cf5e1c450b317658e767933c47a4 Mon Sep 17 00:00:00 2001 From: Luke Schmitt Date: Fri, 20 Dec 2024 00:23:13 +0000 Subject: [PATCH 8/8] pip3 --- .github/workflows/humble.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml index 94f57047..4b7b1626 100644 --- a/.github/workflows/humble.yaml +++ b/.github/workflows/humble.yaml @@ -36,7 +36,7 @@ jobs: submodules: recursive path: src/interbotix_ros_core - name: Install non-rosdep Python dependencies - run: pip install modern-robotics transforms3d + run: pip3 install modern-robotics transforms3d - name: Prepare Workspace run: | rm src/interbotix_ros_core/interbotix_ros_common_drivers/COLCON_IGNORE