Use pre-made docker images for CI, use ROS Noetic, Humble and Jazzy (…

…remove Melodic and Foxy) (#63) * Use pre-made docker images for CI, use ROS Noetic, Humble and Jazzy (remove Melodic and Foxy)
fixposition · Jul 29, 2024 · 1629bb7 · 1629bb7
1 parent 0a1e54e
commit 1629bb7
Show file tree

Hide file tree

Showing 5 changed files with 107 additions and 133 deletions.
diff --git a/.github/workflows/build_test_ros.yml b/.github/workflows/build_test_ros.yml
@@ -1,66 +1,48 @@
-name: Build and Test with ROS1
-
-on:
-  push:
-    branches: [main]
-  pull_request:
-    branches: [main]
-
-jobs:
-  build:
-    name: ${{ matrix.config.name }}
-    runs-on: ubuntu-latest
-
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - name: "melodic"
-            container:
-              image: "osrf/ros:melodic-desktop-full"
-              env:
-                ROS_DISTRO: melodic
-          - name: "noetic"
-            container:
-              image: "osrf/ros:noetic-desktop-full"
-              env:
-                ROS_DISTRO: noetic
-
-    container: ${{ matrix.config.container }}
-
-    defaults:
-      run:
-        shell: bash
-
-    steps:
-      - uses: actions/checkout@v3
-        with:
-          path: src/fixposition_driver
-      - name: Checkout Deps
-        uses: actions/checkout@v3
-        with:
-          repository: fixposition/fixposition_gnss_tf
-          path: src/fixposition_gnss_tf
-      - name: Set up Deps
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y libeigen3-dev libyaml-cpp-dev libgtest-dev python3-osrf-pycommon python3-catkin-tools
-      - name: Install Gtest
-        if: matrix.config.container.image == 'osrf/ros:melodic-desktop-full'
-        run: |
-          cd /usr/src/gtest
-          sudo cmake .
-          sudo make
-          sudo make install
-      - name: Ignore ROS2 node
-        run: |
-          touch src/fixposition_driver/fixposition_driver_ros2/CATKIN_IGNORE
-          touch src/fixposition_driver/fixposition_odometry_converter_ros2/CATKIN_IGNORE
-      - name: Init Workspace
-        run: |
-          catkin init
-      - name: Build and Test
-        run: |
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          catkin build fixposition_driver_lib fixposition_driver_ros1 fixposition_odometry_converter_ros1 --force-cmake -DBUILD_TESTING=ON
-          catkin run_tests
+name: Build and Test with ROS1
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    name: ${{ matrix.config.name }}
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - name: "noetic"
+            container:
+              image: "ghcr.io/fixposition/fixposition-sdk:noetic-ci"
+
+    container: ${{ matrix.config.container }}
+
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/fixposition_driver
+      - name: Checkout Deps
+        uses: actions/checkout@v4
+        with:
+          repository: fixposition/fixposition_gnss_tf
+          path: src/fixposition_gnss_tf
+      - name: Ignore ROS2 node
+        run: |
+          touch src/fixposition_driver/fixposition_driver_ros2/CATKIN_IGNORE
+          touch src/fixposition_driver/fixposition_odometry_converter_ros2/CATKIN_IGNORE
+      - name: Init Workspace
+        run: |
+          catkin init
+      - name: Build and Test
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          catkin build fixposition_driver_lib fixposition_driver_ros1 fixposition_odometry_converter_ros1 --force-cmake -DBUILD_TESTING=ON
+          catkin run_tests
diff --git a/.github/workflows/build_test_ros2.yml b/.github/workflows/build_test_ros2.yml
@@ -1,57 +1,49 @@
-name: Build and Test with ROS2
-
-on:
-  push:
-    branches: [main]
-  pull_request:
-    branches: [main]
-
-jobs:
-  build:
-    name: ${{ matrix.config.name }}
-    runs-on: ubuntu-latest
-
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          - name: "humble"
-            container:
-              image: "osrf/ros:humble-desktop-full"
-              env:
-                ROS_DISTRO: humble
-          - name: "foxy"
-            container:
-              image: "osrf/ros:foxy-desktop"
-              env:
-                ROS_DISTRO: foxy
-
-    container: ${{ matrix.config.container }}
-
-    defaults:
-      run:
-        shell: bash
-
-    steps:
-      - uses: actions/checkout@v3
-        with:
-          path: src/fixposition_driver
-      - name: Checkout Deps
-        uses: actions/checkout@v3
-        with:
-          repository: fixposition/fixposition_gnss_tf
-          path: src/fixposition_gnss_tf    
-      - name: Set up Deps
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y libeigen3-dev libyaml-cpp-dev libgtest-dev python3-osrf-pycommon
-      - name: Ignore ROS1 node
-        run: |
-          touch src/fixposition_driver/fixposition_driver_ros1/COLCON_IGNORE      
-          touch src/fixposition_driver/fixposition_odometry_converter_ros1/COLCON_IGNORE    
-      - name: Build and Test
-        run: |
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          colcon build --packages-up-to fixposition_driver_ros2 --cmake-args -DBUILD_TESTING=ON
-          colcon test --packages-up-to fixposition_driver_ros2
-          colcon test-result --test-result-base build/fixposition_gnss_tf/
+name: Build and Test with ROS2
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    name: ${{ matrix.config.name }}
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - name: "humble"
+            container:
+              image: "ghcr.io/fixposition/fixposition-sdk:humble-ci"
+          - name: "jazzy"
+            container:
+              image: "ghcr.io/fixposition/fixposition-sdk:jazzy-ci"
+
+    container: ${{ matrix.config.container }}
+
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/fixposition_driver
+      - name: Checkout Deps
+        uses: actions/checkout@v4
+        with:
+          repository: fixposition/fixposition_gnss_tf
+          path: src/fixposition_gnss_tf
+      - name: Ignore ROS1 node
+        run: |
+          touch src/fixposition_driver/fixposition_driver_ros1/COLCON_IGNORE
+          touch src/fixposition_driver/fixposition_odometry_converter_ros1/COLCON_IGNORE
+      - name: Build and Test
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          colcon build --packages-up-to fixposition_driver_ros2 --cmake-args -DBUILD_TESTING=ON
+          colcon test --packages-up-to fixposition_driver_ros2
+          colcon test-result --test-result-base build/fixposition_gnss_tf/
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,6 +2,11 @@
 
 _For questions about compatibility, please contact Fixpositions Support support@fixposition.com_
 
+## x.x.x
+
+    - Remove support and CI for ROS 1 Melodic and ROS 2 Dashing/Eloquent/Foxy/Galactic
+    - Do CI for Noetic, Humble and Jazzy
+
 ## [6.1.3](https://github.com/fixposition/fixposition_driver/releases/tag/6.1.3)
 
     - Improve README

diff --git a/README.md b/README.md
@@ -1,7 +1,7 @@
 # Fixposition ROS Driver
 
--   [ROS1 melodic / noetic ![](./../../actions/workflows/build_test_ros.yml/badge.svg)](./../../actions/workflows/build_test_ros.yml)
--   [ROS2 foxy / humble ![](./../../actions/workflows/build_test_ros2.yml/badge.svg)](./../../actions/workflows/build_test_ros2.yml)
+-   [ROS1 Noetic ![](./../../actions/workflows/build_test_ros.yml/badge.svg)](./../../actions/workflows/build_test_ros.yml)
+-   [ROS2 Humble / Jazzy ![](./../../actions/workflows/build_test_ros2.yml/badge.svg)](./../../actions/workflows/build_test_ros2.yml)
 
 [ROS](https://www.ros.org/) (both ROS1 and ROS2) Driver for [Fixposition Vision-RTK 2](https://www.fixposition.com/product).
 
@@ -122,11 +122,11 @@ Then source your environment after the build:
 
 > [!NOTE]
 > ROS2, unlike ROS1, by default uses a `install` directory in the workspace. So when you do `ros2 launch xxx`, the configuration and launch files are taken from the `install` and not directly from the `src` directory.
-> 
+>
 > If you want to modify the parameters in the YAML files. You can:
 >   - Modify the YAML file in the `src` directory and then re-run `colcon build --packages-up-to fixposition_driver_ros2` to update them into the `install` directory.
 >
->       or 
+>       or
 >   - Modify the YAML file in `install`. However, the next time you do `colcon build` they will be overriden by the files in `src`.
 
 

diff --git a/fixposition_driver_ros2/CMakeLists.txt b/fixposition_driver_ros2/CMakeLists.txt
@@ -69,16 +69,11 @@ add_executable(
   src/data_to_ros2.cpp
 )
 
-if($ENV{ROS_DISTRO} MATCHES "humble|rolling")
+if($ENV{ROS_DISTRO} MATCHES "humble|jazzy|rolling")
   rosidl_get_typesupport_target(
     cpp_typesupport_target
     ${PROJECT_NAME} "rosidl_typesupport_cpp"
   )
-elseif($ENV{ROS_DISTRO} MATCHES "galactic|foxy|eloquent|dashing")
-  rosidl_target_interfaces(
-    ${PROJECT_NAME}_exec
-    ${PROJECT_NAME} "rosidl_typesupport_cpp"
-  )
 else()
   message(FATAL_ERROR "Unsupported ROS_DISTRO")
 endif()