Add CI for ROS2. (#17)

* Initial ros2 pipeline.

* Don't run noetic CI on jazzy.

* Updated documentation build.

* Github only supports one pages deployment, so we only deploy on latest branch.

* Updated documentation build.

* Updated documentation setup step.

* Added missing sudo.

* Updated docs conf.

* Add asan to CI tests to find memory issues.

* Build hector_math_py before building documentation to enable automatic generation of graphics.

* Disable asan new-delete-type-mismatch since rcutils triggers it.

* $default-branch is only available in templates not in actual workflow instances.
Only deploy if not a PR.

* Changed upload pages artifact version to v3.

* Update sourcing of built packages.

* Make entire documentation deploy job conditional on "is not a pull request" not just the deploy step.

* Fixed check for GITHUB_REF_NAME in docs build.

* Install python3-git in docs workflow.

.github/workflows/ci.yml → .github/workflows/ci-ros1.yml

@@ -1,9 +1,9 @@
 name: Build & Test
 on:
   push:
-    branches: [ master ]
+    branches: [ noetic ]
   pull_request:
-    branches: [ master ]
+    branches: [ noetic ]
 
 jobs:
   Linting:
@@ -34,7 +34,7 @@ jobs:
         run: |
           sudo apt-get update
           sudo apt-get install -y python3-catkin-tools python3-empy
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: hector/src
       - name: rosdep

.github/workflows/ci-ros2.yml

@@ -0,0 +1,54 @@
+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"]
+              }
+            }

.github/workflows/documentation.yml

@@ -1,29 +1,50 @@
-name: Documentation Build
+name: Documentation
 on:
   push:
-    branches: [ master ]
+    branches: [ jazzy ]
+  pull_request:
+    branches: [ jazzy ]
 
 jobs:
-  documentation:
+  build:
     runs-on: ubuntu-latest
-    container: debian:buster-slim
+    container:
+      image: ros:jazzy-ros-base
     steps:
-      - name: Prerequisites
-        run: |
-          apt-get update
-          apt-get install -y git doxygen graphviz
-        shell: bash
-
       - name:  Checkout Code
-        uses:  actions/checkout@v3
+        uses:  actions/checkout@v4
         with:
           fetch-depth: 0
-          # ref: master # make sure to use documentation script from master branch
-
-      - name: Execute script to build our documentation and update pages
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: Setup
         run: |
-          cd .github
-          ./build_docs_on_github.sh
-        shell: bash
+          sudo apt-get update && sudo apt-get install -y git doxygen graphviz python3-sphinx python3-breathe python3-sphinx-rtd-theme python3-git
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: jazzy
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          package-name: hector_math hector_math_py
+          target-ros2-distro: jazzy
+          skip-tests: true
+      - name: Build documentation
+        run: |
+          . ${{ steps.action_ros_ci_step.outputs.ros-workspace-directory-name }}/install/setup.sh && cd docs && make html
+      - uses: actions/upload-pages-artifact@v3
+        with:
+          name: github-pages
+          path: docs/_build/html
+  deploy:
+    if: github.event_name != 'pull_request'
+    needs: build
+    permissions:
+      pages: write
+      id-token: write
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4