Add CI for ROS2. #12
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| name: Build & Test | |
| on: | |
| push: | |
| branches: [ jazzy ] | |
| pull_request: | |
| branches: [ jazzy ] | |
| jobs: | |
| Linting: | |
| name: Lint Code Base | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout Code | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - name: Setup | |
| run: | | |
| sudo apt-get update && sudo apt-get install -y clang-format cppcheck libxml2-utils | |
| - name: Lint C++ | |
| run: | | |
| clang-format -Werror -n -style=file $(find . -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -o -name '*.c' -o -name '*.cc') | |
| - name: Check C++ | |
| run: | | |
| cppcheck --force --quiet --error-exitcode=1 . | |
| - name: Lint package.xml | |
| run: | | |
| xmllint --noout --schema http://download.ros.org/schema/package_format3.xsd $(find . -name 'package.xml') | |
| build-and-test: | |
| needs: Linting | |
| runs-on: ubuntu-latest | |
| # Disable asan new-delete-type-mismatch to workaround rcutils issue | |
| # https://github.com/ros2/rclcpp/issues/2220 | |
| env: | |
| ASAN_OPTIONS: new_delete_type_mismatch=0 | |
| strategy: | |
| matrix: | |
| ros_distro: [humble, jazzy] | |
| container: | |
| image: ros:${{matrix.ros_distro}}-ros-base | |
| steps: | |
| - uses: ros-tooling/[email protected] | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distro }} | |
| - uses: ros-tooling/[email protected] | |
| with: | |
| target-ros2-distro: ${{ matrix.ros_distro }} | |
| colcon-defaults: | # Use asan to find memory issues | |
| { | |
| "build": { | |
| "mixin": ["asan-gcc"] | |
| } | |
| } |