From 36a51f52f9d9c184ed61de5b757c2b3cb7dcb054 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Mon, 31 Jul 2023 22:45:18 +0100
Subject: [PATCH] [ci] Created ROS2 jobs

---
 .github/workflows/ros_ci.yaml                 | 37 +++++++++++++++++++
 ...strial_ci_action.yml => ros_ci_clang.yaml} | 23 +++---------
 2 files changed, 43 insertions(+), 17 deletions(-)
 create mode 100644 .github/workflows/ros_ci.yaml
 rename .github/workflows/{industrial_ci_action.yml => ros_ci_clang.yaml} (65%)

diff --git a/.github/workflows/ros_ci.yaml b/.github/workflows/ros_ci.yaml
new file mode 100644
index 0000000000..b45477f093
--- /dev/null
+++ b/.github/workflows/ros_ci.yaml
@@ -0,0 +1,37 @@
+name: ROS
+
+# This determines when this workflow is run
+on: [push, pull_request]
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          # - {ROS_DISTRO: noetic, PRERELEASE: true}
+          - {ROS_DISTRO: humble}
+          - {name: "CI (humble, multi-threading)", ROS_DISTRO: humble, ADDITIONAL_DEBS: "libomp-dev", CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          - {name: "CI (humble, Debug)", ROS_DISTRO: noetic, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+          - {ROS_DISTRO: rolling}
+          - {name: "CI (rolling, multi-threading)", ROS_DISTRO: rolling, ADDITIONAL_DEBS: "libomp-dev", CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          - {name: "CI (rolling, Debug)", ROS_DISTRO: rolling, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+    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'
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - uses: actions/cache@v3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/ros_ci_clang.yaml
similarity index 65%
rename from .github/workflows/industrial_ci_action.yml
rename to .github/workflows/ros_ci_clang.yaml
index 76dae4d56c..73c423454b 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/ros_ci_clang.yaml
@@ -1,7 +1,4 @@
-# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
-# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
-
-name: ROS-CI
+name: ROS-CI-2
 
 # This determines when this workflow is run
 on: [push, pull_request] # on all pushes and PRs
@@ -11,20 +8,12 @@ jobs:
     strategy:
       matrix:
         env:
-          # Ubuntu 20.04, g++, Release
-          - {name: "Focal / g++ / Release", ROS_DISTRO: noetic}
-          # Ubuntu 20.04, clang, Release
-          - {name: "Focal / clang / Release", ROS_DISTRO: noetic, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++}
-          # Ubuntu 20.04, clang, Release, multi-threading
-          - {name: "Focal / clang / Release / Multi-threading", ROS_DISTRO: noetic, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          - {name: "CI (noetic, g++, Release)", ROS_DISTRO: noetic}
+          - {name: "CI (noetic, clang, Release)", ROS_DISTRO: noetic, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++}
+          - {name: "CI (noetic, clang, Release, multi-threading)", ROS_DISTRO: noetic, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"}
+          - {name: "CI (noetic, clang, Debug)", ROS_DISTRO: noetic, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
           # Format check
-          #- {name: "Format check", ROS_DISTRO: noetic, CLANG_FORMAT_CHECK: file, CLANG_FORMAT_VERSION: "6.0", BEFORE_RUN_CLANG_FORMAT_CHECK: "wget https://raw.githubusercontent.com/Gepetto/linters/master/.clang-format-6.0 -O /tmp/clang_format_check/crocoddyl/.clang-format", ADDITIONAL_DEBS: wget}
-          ## Working configs for Debug mode. However, tests take too long in Debug mode (~1h on a laptop).
-          ## Hence, not active on GitHub Actions
-          # # Ubuntu 20.04, g++, Debug
-          # - {name: "Focal / g++ / Debug", ROS_DISTRO: noetic, CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'}
-          # Ubuntu 20.04, clang, Debug
-          - {name: "Focal / clang / Debug", ROS_DISTRO: noetic, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+          #- {name: "Format check", ROS_DISTRO: noetic, CLANG_FORMAT_CHECK: file, CLANG_FORMAT_VERSION: "6.0", BEFORE_RUN_CLANG_FORMAT_CHECK: "wget https://raw.githubusercontent.com/Gepetto/linters/master/.clang-format-6.0 -O /tmp/clang_format_check/crocoddyl/.clang-format", ADDITIONAL_DEBS: wget}         
     name: ${{ matrix.env.name }}
     env:
       CCACHE_DIR: /github/home/.ccache             # Enable ccache