Fix CI

.github/workflows/config.yml

@@ -0,0 +1,113 @@
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  ros:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ROS_DISTRO: indigo
+            CONTAINER: jskrobotics/ros-ubuntu:14.04
+            ROSDEP_ADDITIONAL_OPTIONS: "-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl"
+            # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
+            BEFORE_SCRIPT: "sudo -H pip install -U numpy fcn chainercv chainer==6.7.0 gdown==4.4.0 scikit-learn==0.19.1 protobuf==3.17.3"
+            CATKIN_TOOLS_CONFIG_OPTIONS: "--blacklist imagesift jsk_recognition_msgs jsk_perception jsk_pcl_ros_utils jsk_pcl_ros resized_image_transport checkerboard_detector fetcheus naoqieus jsk_fetch_startup jsk_nao_startup roseus_remote jsk_robot_startup jsk_robot_utils jsk_pr2_calibration pr2_base_trajectory_action jsk_baxter_web peppereus naoeus jsk_baxter_desktop jsk_pepper_startup jsk_pr2_startup jsk_pr2_desktop"
+            # instance_occlsegm and grasp_fusion are excluded because of gdrive download maximum trials.
+            # see: https://github.com/start-jsk/jsk_apc/pull/2745
+            BUILD_PKGS: "jsk_apc2015_common jsk_apc2016_common jsk_arc2017_common jsk_2015_05_baxter_apc jsk_2016_01_baxter_apc jsk_arc2017_baxter selective_dualarm_stowing sphand_driver sphand_driver_msgs vl53l0x_mraa_ros baxtergv6_apc2016 baxter_paper_filing"
+            TEST_PKGS: "jsk_apc2015_common jsk_apc2016_common jsk_arc2017_common jsk_2015_05_baxter_apc jsk_2016_01_baxter_apc jsk_arc2017_baxter sphand_driver baxtergv6_apc2016 baxter_paper_filing"
+          - ROS_DISTRO: kinetic
+            CONTAINER: jskrobotics/ros-ubuntu:16.04
+            ROSDEP_ADDITIONAL_OPTIONS: "-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl"
+            # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
+            BEFORE_SCRIPT: "sudo -H pip install fcn chainercv chainer==6.7.0 gdown==4.4.0 protobuf==3.17.3"
+            CATKIN_TOOLS_CONFIG_OPTIONS: "--blacklist imagesift jsk_recognition_msgs jsk_perception jsk_pcl_ros_utils jsk_pcl_ros resized_image_transport checkerboard_detector fetcheus naoqieus jsk_fetch_startup jsk_nao_startup roseus_remote jsk_robot_startup jsk_robot_utils jsk_pr2_calibration pr2_base_trajectory_action jsk_baxter_web peppereus naoeus jsk_baxter_desktop jsk_pepper_startup jsk_pr2_startup jsk_pr2_desktop test_catkin_virtualenv test_catkin_virtualenv_py3_isolated test_catkin_virtualenv_inherited"
+            # instance_occlsegm and grasp_fusion are excluded because of gdrive download maximum trials.
+            # see: https://github.com/start-jsk/jsk_apc/pull/2745
+            TEST_PKGS: "jsk_apc2015_common jsk_apc2016_common jsk_arc2017_common jsk_2015_05_baxter_apc jsk_2016_01_baxter_apc jsk_arc2017_baxter sphand_driver baxtergv6_apc2016 baxter_paper_filing"
+          - ROS_DISTRO: melodic
+            CONTAINER: jskrobotics/ros-ubuntu:18.04
+            ROSDEP_ADDITIONAL_OPTIONS: "-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl"
+            # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
+            BEFORE_SCRIPT: "sudo -H pip install fcn chainercv chainer==6.7.0 gdown==4.4.0 protobuf==3.17.3"
+            CATKIN_TOOLS_CONFIG_OPTIONS: "--blacklist imagesift jsk_recognition_msgs jsk_perception jsk_pcl_ros_utils jsk_pcl_ros resized_image_transport checkerboard_detector fetcheus naoqieus jsk_fetch_startup jsk_nao_startup roseus_remote jsk_robot_startup jsk_robot_utils jsk_pr2_calibration pr2_base_trajectory_action jsk_baxter_web peppereus naoeus jsk_baxter_desktop jsk_pepper_startup jsk_pr2_startup jsk_pr2_desktop"
+            # instance_occlsegm and grasp_fusion are excluded because of gdrive download maximum trials.
+            # see: https://github.com/start-jsk/jsk_apc/pull/2745
+            TEST_PKGS: "jsk_apc2015_common jsk_apc2016_common jsk_arc2017_common jsk_2015_05_baxter_apc jsk_2016_01_baxter_apc jsk_arc2017_baxter sphand_driver baxtergv6_apc2016 baxter_paper_filing"
+          - ROS_DISTRO: noetic
+            CONTAINER: jskrobotics/ros-ubuntu:20.04
+            ROSDEP_ADDITIONAL_OPTIONS: "-n -q --ignore-src --skip-keys=jsk_smart_gui --skip-keys=ros3djs --skip-keys=pr2_calibration_launch --skip-keys=jsk_android_gui_api9 --skip-keys=ros2djs --skip-keys=face_recognition --skip-keys=roslibjs --skip-keys=force_proximity_ros --skip-keys=safe_teleop_base --skip-keys=pcl --skip-keys=roseus_mongo --skip-keys=pr2_moveit_config --skip-keys=pr2_moveit_plugins --skip-keys=jsk_pr2_startup"
+            # XXX: hotfix for chainer problem (https://github.com/chainer/chainer/issues/8545)
+            # Use apt-version scipy and skimage which are compatible with apt-version numpy
+            BEFORE_SCRIPT: "sudo apt-get install -y -q python3-scipy python3-skimage; sudo -H pip3 install fcn chainercv chainer==6.7.0 gdown==4.4.0"
+            CATKIN_TOOLS_CONFIG_OPTIONS: "--blacklist imagesift jsk_recognition_msgs jsk_perception jsk_pcl_ros_utils jsk_pcl_ros resized_image_transport checkerboard_detector fetcheus naoqieus jsk_fetch_startup jsk_nao_startup roseus_remote jsk_robot_startup jsk_robot_utils jsk_pr2_calibration pr2_base_trajectory_action jsk_baxter_web peppereus naoeus jsk_baxter_desktop jsk_pepper_startup jsk_pr2_startup jsk_pr2_desktop"
+            TEST_PKGS: "jsk_apc2015_common jsk_apc2016_common jsk_arc2017_common jsk_2015_05_baxter_apc jsk_2016_01_baxter_apc jsk_arc2017_baxter sphand_driver baxtergv6_apc2016"
+
+    container:
+      image: ${{ matrix.CONTAINER }}
+      volumes:
+        - /tmp/node20:/__e/node20
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu )
+        run: |
+          (apt-get update && apt-get install -y sudo) || echo "OK"
+          sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: |
+          set -x
+          export USER=$(whoami)
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
+             sudo mkdir -p /__w/
+             sudo chmod 777 -R /__w/
+             sudo chown -R $USER $HOME
+             # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
+             # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
+             # ls -al /home/runner/work/_temp/_github_workflow/
+          else
+             git config --global --add safe.directory $GITHUB_WORKSPACE
+          fi
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             export USER=$(whoami)
+             sudo chmod 777 -R /__e/node20
+             sudo chown -R $USER /__e/node20
+          fi
+          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: Checkout
+        uses: actions/[email protected]
+        with:
+          submodules: true
+      # github actions cache does not work because of permission denied.
+      # see: https://github.com/actions/cache/issues/404
+      # - name: Cache several data
+      #   uses: actions/cache@v2
+      #   with:
+      #     path: |
+      #       ~/.ccache
+      #       ~/.cache/pip
+      #       ~/apt-cacher-ng
+      #       ~/.ros/data
+      #     key: ${{ github.workflow }}
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
+          ROS_PARALLEL_JOBS: "-j8"
+          USE_DEB: false
+          NOT_TEST_INSTALL: true
+          ROSDEP_ADDITIONAL_OPTIONS: ${{ matrix.ROSDEP_ADDITIONAL_OPTIONS }}
+          BEFORE_SCRIPT: ${{ matrix.BEFORE_SCRIPT }}
+          CATKIN_TOOLS_CONFIG_OPTIONS: ${{ matrix.CATKIN_TOOLS_CONFIG_OPTIONS }}
+          BUILD_PKGS: ${{ matrix.BUILD_PKGS }}
+          TEST_PKGS: ${{ matrix.TEST_PKGS }}