config.yml

on: [push, pull_request]

env:
  DISPLAY: ':0.0'

jobs:
  ros:
    runs-on: ubuntu-latest
    continue-on-error: false
    strategy:
      fail-fast: false
      matrix:
        include:
          - ROS_DISTRO: melodic
            PYTHON_EXECUTABLE: python
            DOCKER_IMAGE: ros:melodic-ros-core
          - ROS_DISTRO: noetic
            PYTHON_EXECUTABLE: python3
            DOCKER_IMAGE: ros:noetic-ros-core
          - ROS_DISTRO: one
            PYTHON_EXECUTABLE: python3
            DOCKER_IMAGE: ubuntu:22.04
            ROS_REPOSITORY_URL: https://raw.githubusercontent.com/k-okada/ros-o-builder/jammy-one-unstable/repository
          - ROS_DISTRO: melodic
            PYTHON_EXECUTABLE: python
            USE_SOURCE_SMACH_ROS: true
            DOCKER_IMAGE: ros:melodic-ros-core
          - ROS_DISTRO: noetic
            PYTHON_EXECUTABLE: python3
            USE_SOURCE_SMACH_ROS: true
            DOCKER_IMAGE: ros:noetic-ros-core
          - ROS_DISTRO: one
            PYTHON_EXECUTABLE: python3
            USE_SOURCE_SMACH_ROS: true
            DOCKER_IMAGE: ubuntu:22.04
            ROS_REPOSITORY_URL: https://raw.githubusercontent.com/k-okada/ros-o-builder/jammy-one-unstable/repository

    container:
      image: ${{ matrix.DOCKER_IMAGE }}
      volumes:
        - /tmp/node20:/__e/node20

    steps:
      - name: Setup ROS-O deb repository
        if: ${{ matrix.DOCKER_IMAGE == 'ubuntu:22.04' }}
        run: apt update -y -qq && apt install -y -qq sudo

      - name: Update apt packages
        run: sudo apt update -y -qq

      - name: Try to replace `node` with an glibc 2.17
        shell: bash
        run: |
          ls -lar /__e/node20 &&
          sudo apt-get install -y curl &&
          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
          cd /__e/node20 &&
          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
          ls -lar /__e/node20/bin/

      - name: Chcekout
        uses: actions/checkout@v4

      - name: Setup ROS-O deb repository
        if: ${{ matrix.ROS_REPOSITORY_URL }}
        run: |
          set -x
          apt install -qq -y ca-certificates
          echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list
          apt update
          DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt install -qq -y python3-rosdep2
          echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
          rosdep update
          #
          DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt install -y software-properties-common
          add-apt-repository -y ppa:k-okada/python3-catkin-tools
          apt update -y -qq

      - name: Start X server
        run: |
          echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
          sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget
          export DISPLAY=:0
          wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/dummy.xorg.conf -O /tmp/dummy.xorg.conf
          sudo Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile /tmp/xorg.log -config /tmp/dummy.xorg.conf $DISPLAY &
          sleep 3 # wait x server up
          export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
          xhost +local:root
        shell: bash

      - name: Setup ROS
        run: |
          [ ${{ matrix.ROS_DISTRO }} = "one" ] && DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt install -qq -y catkin
          [ ${{ matrix.ROS_DISTRO }} = "one" ] || sudo apt -y -qq install ${{ matrix.PYTHON_EXECUTABLE }}-rosdep ros-${{ matrix.ROS_DISTRO }}-catkin
          sudo apt -y -qq install ${{ matrix.PYTHON_EXECUTABLE }}-catkin-tools ros-${{ matrix.ROS_DISTRO }}-ros-environment make gcc g++
          sudo apt -y -qq install ros-${{ matrix.ROS_DISTRO }}-roseus ros-${{ matrix.ROS_DISTRO }}-roseus-smach
          # ROS-O instaelled rosdep at 'Setup ROS-O deb repository'
          [ -e /etc/ros/rosdep/sources.list.d ] || (sudo rosdep init && rosdep update --include-eol-distros)

      - name: Setup Workspace
        run: |
          source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash
          set -x
          # setup workspace
          mkdir -p ~/ws/src
          cd ~/ws/src
          ln -sf $GITHUB_WORKSPACE .
          [ ${{ matrix.ROS_DISTRO }} != "one" ] || (sudo apt install -y -qq git; sudo apt remove -y -qq ros-${{ matrix.ROS_DISTRO }}-roseus-smach; git clone https://github.com/jsk-ros-pkg/jsk_roseus.git)
          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
        shell: bash

      - name: Checkout smach_ros source tree
        if: ${{ matrix.USE_SOURCE_SMACH_ROS }}
        run: |
          sudo apt-get -y -qq install git
          cd ~/ws/src
          git clone https://github.com/ros/executive_smach.git -b noetic-devel
        shell: bash

      - name: Compile Packages
        run: |
          source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash
          set -x
          cd ~/ws/
          catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
        shell: bash

      - name: Test Packages
        id: test
        run: |
          source ~/ws/devel/setup.bash
          set -x
          cd ~/ws/
          catkin test --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
        shell: bash

      - name: Show Test Results
        if: ${{ always() }}
        run: |
          source ~/ws/devel/setup.bash
          set -x
          cd ~/ws/
          catkin_test_results --verbose --all build
        shell: bash

      - name: Run Test Manually
        if: ${{ always() && steps.test.conclusion == 'failure' }}
        run: |
          source ~/ws/devel/setup.bash
          set -x
          cd ~/ws/
          find $(rospack find smach_viewer) -iname "*.test" -exec rostest -t {} \;
        shell: bash