gh ci

Author: alaurenzi

.github/workflows/build-and-test-ros2-noble.yml

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+name: Build and Test (Noble-ROS2)
+
+on:
+  push:
+    branches: [ "ros2" ]
+  pull_request:
+    branches: [ "ros2" ]
+
+jobs:
+
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+    - name: Build the Docker image and start the container
+      run: docker compose up -d
+      working-directory: ./docker/noble-ros2 
+    - name: Compile the library
+      run: docker compose exec dev ./scripts/build.bash
+      working-directory: ./docker/noble-ros2
+    - name: Run tests
+      run: docker compose exec dev ./scripts/test.bash
+      working-directory: ./docker/noble-ros2

.github/workflows/sphinx.yml

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+name: Doc build
+
+on: push
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Doxygen:Install
+      run: sudo apt-get install -y libboost-all-dev libeigen3-dev doxygen
+    - name: Doxygen:CheckOut
+      uses: actions/checkout@v3
+    - name: Doxygen:cmake
+      continue-on-error: true
+      run: | 
+        mkdir build && cd build && cmake ..
+    - name: Doxygen:Compile
+      run: |
+        cd build/doc/ && doxygen && mv xml ../../docs/ 
+    - name: Sphinx:BuildHTML
+      uses: ammaraskar/sphinx-action@master
+    - name: Sphinx:UploadArtifacts
+      uses: actions/upload-artifact@v3
+      with:
+        name: html-docs
+        path: docs/build/html/
+    - name: Sphinx:Deploy
+      uses: peaceiris/actions-gh-pages@v3
+      if: github.ref == 'refs/heads/4.0-devel'
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: docs/build/html

docker/noble-ros2/Dockerfile

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+FROM hhcmhub/xbot2-noble-dev

docker/noble-ros2/compose.yaml

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+services:
+  dev:
+    build: .
+    stdin_open: true
+    tty: true 
+    entrypoint: /bin/bash
+    restart: always
+    volumes:
+      - /home/$USER/.ssh:/home/user/.ssh
+      - ./scripts:/home/user/scripts
+      - ../..:/home/user/test_ws/src/cartesian_interface:ro
+    environment:
+      - TERM=xterm-256color

docker/noble-ros2/scripts/build.bash

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+#!/bin/bash
+set -e
+
+# make forest https
+export HHCM_FOREST_CLONE_DEFAULT_PROTO=https
+
+# activate python venv
+source env/bin/activate
+
+# create ws and source it
+sudo chown user:user test_ws test_ws/src
+mkdir -p test_ws && cd test_ws
+forest init
+
+# setup env
+source /opt/ros/jazzy/setup.bash
+source setup.bash
+
+# here we want to check that opensot builds and works against the binaries of the
+# xbot dependencies
+source /opt/xbot/setup.sh
+sudo apt remove -y cartesian_interface
+
+# add recipes
+forest add-recipes git@github.com:advrhumanoids/multidof_recipes.git -t ros2
+
+# build
+export PYTHONUNBUFFERED=1
+forest grow cartesian_interface --verbose --clone-depth 1 -j ${FOREST_JOBS:-1}
+
+# build tests
+# cd build/cartesian_interface
+# cmake -DOPENSOT_COMPILE_TESTS=1 .
+# make -j ${FOREST_JOBS:-1}

docker/noble-ros2/scripts/test.bash

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+#!/bin/bash
+set -e
+
+# setup env
+source /opt/ros/jazzy/setup.bash
+source ~/test_ws/setup.bash 
+
+# run tests
+cd ~/test_ws/build/OpenSoT
+ctest --output-on-failure