Merge pull request #2 from flochre/release-via-ci

Release via ci

.github/workflows/build.sh

@@ -7,8 +7,20 @@ sudo chown -R $(id -u):$(id -g) out
 
 echo "Before compression:"
 ls -lh out/
-cd out
+
+for img in out/*.img; do
+  echo "  Shrimping $img"
+  sudo pishrink $img
+done
+
+echo "After PiShrink:"
+ls -lh out/
+
+for img in out/*.img; do
+  echo "  Compressing $img"
+#   xz -9 $img
+  xz --extreme --threads=0 -9 $img
+done
 
 echo "After compression:"
-pigz *.img
-ls -lh .
+ls -lh out/

.github/workflows/build.yml

@@ -10,7 +10,7 @@ jobs:
       check-changes: ${{ steps.filter.outputs.check-changes }}
     steps:
     # For pull requests it's not necessary to checkout the code
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - uses: dorny/paths-filter@v2
       id: filter
       with:
@@ -24,30 +24,22 @@ jobs:
             - '.github/workflows/setup-dependencies.sh'
             - '.github/workflows/build.yml'
 
-  build-focal:
-    needs: changes
-    runs-on: ubuntu-latest
-    if: ${{ needs.changes.outputs.check-changes == 'true' }}
-    steps:
-      - uses: actions/checkout@v2
-
-      - name: Setup build dependencies
-        run: .github/workflows/setup-dependencies.sh
-
-      - name: Build image
-        run: .github/workflows/build.sh focal-rt-ros2
-
   build-jammy:
     needs: changes
     runs-on: ubuntu-latest
     if: ${{ needs.changes.outputs.check-changes == 'true' }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Setup build dependencies
         run: .github/workflows/setup-dependencies.sh
 
       - name: Build image
         run: .github/workflows/build.sh jammy-rt-ros2
 
+      - uses: actions/upload-artifact@v3
+        with:
+          name: img-file-jammy
+          path: out/*.img.xz
+
   # TODO: release image

.github/workflows/setup-dependencies.sh

@@ -4,4 +4,8 @@ set -xe
 
 export DEBIAN_FRONTEND=noninteractive
 sudo apt-get update
-sudo apt-get install -y parted pv rsync wget systemd-container qemu-user-static make zip xz-utils
+sudo apt-get install -y parted pv rsync wget systemd-container qemu-user-static make zip xz-utils
+
+wget https://raw.githubusercontent.com/Drewsif/PiShrink/master/pishrink.sh
+chmod +x pishrink.sh
+sudo mv pishrink.sh /usr/local/bin/pishrink

image_builder/data/jammy-rt-rolling-ruediger/config.ini

@@ -2,8 +2,10 @@
 # comprehensive example.
 [build]
 # The image url to download and customize.
-image_url = https://github.com/ros-realtime/ros-realtime-rpi4-image/releases/download/22.04.3_v5.15.98-rt62-raspi_ros2_rolling/ubuntu-22.04.3-rt-ros2-arm64+raspi.img.xz
-; image_url = https://github.com/flochre/ros-realtime-rpi4-image/releases/download/ruediger-offline-v1.0-rc3/ubuntu-22.04.1-rt-ruediger2-offline-v1.0-rc3-arm64+raspi.img.xz
+; image_url = https://github.com/ros-realtime/ros-realtime-rpi4-image/releases/download/22.04.1_v5.15.39-rt42-raspi_ros2_humble/ubuntu-22.04.1-rt-ros2-arm64+raspi.img.xz
+; image_url = https://github.com/ros-realtime/ros-realtime-rpi4-image/releases/download/22.04.1_v5.15.39-rt42-raspi_ros2_humble/ubuntu-22.04.3-rt-ros2-arm64+raspi.img.xz
+; image_url = https://github.com/ros-realtime/ros-realtime-rpi4-image/releases/download/22.04.3_v5.15.39-rt42-raspi_ros2_humble/ubuntu-22.04.3-v5.15.39-rt42-arm64+raspi.img.xz
+image_url = https://github.com/ros-realtime/ros-realtime-rpi4-image/releases/download/22.04.3_v5.15.98-rt62-raspi_ros2_humble/ubuntu-22.04.3-v5.15.98-rt62-arm64+raspi.img.xz
 
 # Mount location for the partitions in the image file downloaded.
 image_mounts = /boot/firmware,/

image_builder/data/jammy-rt-rolling-ruediger/scripts/phase1-target

@@ -6,7 +6,7 @@ addgroup realtime
 # update the apt database and install needed packages
 apt-get update \
 && apt-get upgrade -y --with-new-pkgs \
-&& apt-get install -y --no-install-recommends \
+&& apt-get install -y \
   network-manager \
   ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-teleop-twist-joy \
   ros-$ROS_DISTRO-teleop-twist-keyboard \

image_builder/data/jammy-rt-rolling-stanley/scripts/phase1-target

@@ -6,7 +6,7 @@ addgroup realtime
 # update the apt database and install needed packages
 apt-get update \
 && apt-get upgrade -y --with-new-pkgs \
-&& apt-get install -y --no-install-recommends \
+&& apt-get install -y \
   network-manager \
   ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-teleop-twist-joy \
   ros-$ROS_DISTRO-teleop-twist-keyboard \

image_builder/data/jammy-rt/config.ini

@@ -12,7 +12,8 @@ image_mounts = /boot/firmware,/
 image_size = 4G
 
 # The filename of the output image
-output_filename = ubuntu-22.04.3-rt-arm64+raspi.img
+; output_filename = ubuntu-22.04.3-v5.15.39-rt42-arm64+raspi.img
+output_filename = ubuntu-22.04.3-v5.15.98-rt62-arm64+raspi.img
 
 # TODO: this shouldn't really be a part of the build configuration, because it
 # is more like a host-level configuration. Instead of putting it here, it should
@@ -28,6 +29,7 @@ qemu_user_static_path = /usr/bin/qemu-aarch64-static
 # In fact, the build scripts from this profile will only have access to
 # environment variables declared for this profile.
 [env]
+; LINUX_RT_VERSION = 5.15.39-rt42
 LINUX_RT_VERSION = 5.15.98-rt62
 STOCK_LINUX_VERSION = 5.15.0-1034
 PINNED_CPU_FREQUENCY = 1500000

scripts/e2e_generate_iso.sh

@@ -96,7 +96,7 @@ done
 echo 'Compress ISO file with xz'
 for iso in out/*.img; do
   echo "  Compressing $iso"
-  xz -9 $iso
+  xz --extreme --threads=0 -9 $iso
 done
 
 result=0