Add CI (#47)

.github/workflows/humble-binary-build-main.yml

@@ -0,0 +1,26 @@
+name: Humble Binary Build - main
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - rolling
+  pull_request:
+    branches:
+      - rolling
+  push:
+    branches:
+      - rolling
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: main
+      upstream_workspace: twist_mux_deps.repos
+      ref_for_scheduled_build: rolling

.github/workflows/iron-binary-build-main.yml

@@ -0,0 +1,26 @@
+name: Iron Binary Build - main
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - rolling
+  pull_request:
+    branches:
+      - rolling
+  push:
+    branches:
+      - rolling
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: iron
+      ros_repo: main
+      upstream_workspace: twist_mux_deps.repos
+      ref_for_scheduled_build: rolling

.github/workflows/reusable-industrial-ci-with-cache.yml

@@ -0,0 +1,96 @@
+name: Reusable industrial_ci Workflow with Cache
+# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
+# author: Denis Štogl <[email protected]>
+
+on:
+  workflow_call:
+    inputs:
+      ref_for_scheduled_build:
+        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
+        default: ''
+        required: false
+        type: string
+
+      upstream_workspace:
+        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
+        required: true
+        type: string
+      ros_distro:
+        description: 'ROS_DISTRO variable for industrial_ci'
+        required: true
+        type: string
+      ros_repo:
+        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
+        default: 'main'
+        required: false
+        type: string
+      os_code_name:
+        description: 'OS_CODE_NAME variable for industrial_ci'
+        default: ''
+        required: false
+        type: string
+      before_install_upstream_dependencies:
+        description: 'BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci'
+        default: ''
+        required: false
+        type: string
+
+      ccache_dir:
+        description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
+        default: '.ccache'
+        required: false
+        type: string
+      basedir:
+        description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
+        default: '.work'
+        required: false
+        type: string
+
+
+jobs:
+  reusable_industrial_ci_with_cache:
+    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
+    runs-on: ubuntu-latest
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
+      BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
+      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.os_code_name }}-${{ inputs.ros_repo }}-${{ github.job }}
+    steps:
+      - name: Checkout ${{ inputs.ref }} when build is not scheduled
+        if: ${{ github.event_name != 'schedule' }}
+        uses: actions/checkout@v3
+      - name: Checkout ${{ inputs.ref }} on scheduled build
+        if: ${{ github.event_name == 'schedule' }}
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ inputs.ref_for_scheduled_build }}
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
+          ROS_DISTRO: ${{ inputs.ros_distro }}
+          ROS_REPO: ${{ inputs.ros_repo }}
+          OS_CODE_NAME: ${{ inputs.os_code_name }}
+          BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws

.github/workflows/rolling-binary-build-main.yml

@@ -0,0 +1,26 @@
+name: Rolling Binary Build - main
+# author: Denis Štogl <[email protected]>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - rolling
+  pull_request:
+    branches:
+      - rolling
+  push:
+    branches:
+      - rolling
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: rolling
+      ros_repo: main
+      upstream_workspace: twist_mux_deps.repos
+      ref_for_scheduled_build: rolling

CMakeLists.txt

@@ -64,9 +64,6 @@ install(
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
   #  find_package(launch_testing_ament_cmake)
   #  add_launch_test(test/system.test.py)
 endif()

twist_mux_deps.repos

@@ -0,0 +1,5 @@
+repositories:
+  twist_mux_msgs:
+    type: git
+    url: https://github.com/ros-teleop/twist_mux_msgs.git
+    version: master