docs: complete pf-based localization demo #367
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# Based on GTSAM file (by @ProfFan) | |
name: CI Build colcon | |
on: [push] | |
jobs: | |
build_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions. | |
runs-on: ubuntu-latest | |
env: | |
DEBIAN_FRONTEND: noninteractive | |
strategy: | |
matrix: | |
# Github Actions requires a single row to be added to the build matrix. | |
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions. | |
# ros_distribution: | |
# - humble | |
# - iron | |
# - rolling | |
# Define the Docker image(s) associated with each ROS distribution. | |
# The include syntax allows additional variables to be defined, like | |
# docker_image in this case. See documentation: | |
# https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build | |
# | |
# Platforms are defined in REP 3 and REP 2000: | |
# https://ros.org/reps/rep-0003.html | |
# https://ros.org/reps/rep-2000.html | |
include: | |
# Humble Hawksbill (May 2022 - May 2027) | |
- docker_image: ubuntu:jammy | |
ros_distribution: humble | |
ros_version: 2 | |
# Iron Irwini (May 2023 - November 2024) | |
- docker_image: ubuntu:jammy | |
ros_distribution: iron | |
ros_version: 2 | |
# Jazzy (2024 - ??) | |
- docker_image: ubuntu:noble | |
ros_distribution: jazzy | |
ros_version: 2 | |
# Rolling Ridley (No End-Of-Life) | |
- docker_image: ubuntu:noble | |
ros_distribution: rolling | |
ros_version: 2 | |
container: | |
image: ${{ matrix.docker_image }} | |
steps: | |
- name: Checkout | |
run: | | |
apt-get -y update | |
apt-get -y install git | |
git clone https://github.com/$GITHUB_REPOSITORY.git --recursive "$GITHUB_WORKSPACE" | |
git config --global --add safe.directory "$GITHUB_WORKSPACE" | |
git checkout $GITHUB_SHA | |
git submodule update --init --recursive | |
- name: setup ROS environment | |
uses: ros-tooling/[email protected] | |
with: | |
use-ros2-testing: true | |
required-ros-distributions: ${{ matrix.ros_distribution }} | |
- name: Install rosdep dependencies | |
run: | | |
. /opt/ros/*/setup.sh | |
rosdep update | |
rosdep install --from-paths . --ignore-src -r -y | |
- name: Build with colcon | |
run: | | |
. /opt/ros/*/setup.sh | |
env | |
MAKEFLAGS="-j2" colcon build --symlink-install --parallel-workers 2 --event-handlers console_direct+ |