Use new APIs for motion, accel and gryo streams #1004
Workflow file for this run
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| name: CI | |
| # Controls when the workflow will run | |
| on: | |
| # Triggers the workflow on push or pull request events but only for the ros2-development branch | |
| push: | |
| branches: | |
| - ros2-development | |
| - ros2-master | |
| pull_request: | |
| branches: | |
| - ros2-development | |
| - ros2-master | |
| # Allows you to run this workflow manually from the Actions tab | |
| workflow_dispatch: | |
| permissions: read-all | |
| # A workflow run is made up of one or more jobs that can run sequentially or in parallel | |
| # This workflow contains a single job called "build" | |
| jobs: | |
| build: | |
| name: Build on ROS2 ${{ matrix.ros_distro }} and ${{ matrix.os }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distro: [rolling, iron, humble, foxy, jazzy] | |
| include: | |
| - ros_distro: 'rolling' | |
| os: ubuntu-24.04 | |
| - ros_distro: 'jazzy' | |
| os: ubuntu-24.04 | |
| - ros_distro: 'iron' | |
| os: ubuntu-22.04 | |
| - ros_distro: 'humble' | |
| os: ubuntu-22.04 | |
| - ros_distro: 'foxy' | |
| os: ubuntu-20.04 | |
| steps: | |
| - name: Setup ROS2 Workspace | |
| run: | | |
| mkdir -p ${{github.workspace}}/ros2/src | |
| - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4 | |
| with: | |
| path: 'ros2/src/realsense-ros' | |
| - name: Check Copyright & Line-Endings | |
| shell: bash | |
| run: | | |
| cd ${{github.workspace}}/ros2/src/realsense-ros/scripts | |
| ./pr_check.sh | |
| # setup-ros@v0.6 is the last version supporting foxy (EOL) | |
| # setup-ros@v0.7 is needed to support humble/iron/rolling/jazzy | |
| # so, seperating steps with if conditions | |
| - name: build ROS2 for foxy | |
| if: ${{ matrix.ros_distro == 'foxy' }} | |
| uses: ros-tooling/setup-ros@236ab287884fd5a314fc030e91b2017abb46719e #v0.6 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distro }} | |
| - name: build ROS2 for humble/iron/rolling/jazzy | |
| if: ${{ matrix.ros_distro != 'foxy' }} | |
| uses: ros-tooling/setup-ros@a6ce30ecca1e5dcc10ae5e6a44fe2169115bf852 #v0.7 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distro }} | |
| - name: Checkout librealsense/development | |
| uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4 | |
| with: | |
| repository: IntelRealSense/librealsense | |
| path: librealsense | |
| ref: development | |
| - name: Build RealSense SDK 2.0 (development branch) from source | |
| run: | | |
| # libusb-1.0-0-dev is needed for librealsense build in ubuntu 20.04 | |
| # This apt install command will be ignored in ubuntu 22.04 as libusb-1.0-0-dev already installed there | |
| sudo apt install -y libusb-1.0-0-dev | |
| cd ${{github.workspace}}/librealsense | |
| sudo mkdir build | |
| cd build | |
| sudo cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false | |
| sudo make uninstall | |
| sudo make clean | |
| sudo make -j10 | |
| sudo make install | |
| - name: Build RealSense ROS2 Wrapper from source | |
| run: | | |
| echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc | |
| source ${{github.workspace}}/.bashrc | |
| cd ${{github.workspace}}/ros2 | |
| echo "================= ROSDEP UPDATE =====================" | |
| rosdep update --rosdistro ${{ matrix.ros_distro }} --include-eol-distros | |
| echo "================= ROSDEP INSTALL ====================" | |
| rosdep install -i --reinstall --from-path src --rosdistro ${{ matrix.ros_distro }} --skip-keys=librealsense2 -y | |
| echo "================== COLCON BUILD ======================" | |
| # Enable 'BUILD_TOOLS' through cmake arguments. Since, this variable is available only in realsense2_camera package | |
| # and not in realsense2_camera_msgs and realsense2_description packages, to avoid warnings from these packages, | |
| # use '--no-warn-unused-cli'. Ref: https://cmake.org/cmake/help/v3.0/manual/cmake.1.html | |
| colcon build --cmake-args '-DBUILD_TOOLS=ON' --no-warn-unused-cli | |
| ## This step is commented out since we don't use rosbag files in "Run Tests" step below. | |
| ## Please uncomment when "Run Tests" step is fixed to run all tests. | |
| #- name: Download Data For Tests | |
| # if: ${{ matrix.ros_distro != 'rolling'}} | |
| # run: | | |
| # cd ${{github.workspace}}/ros2 | |
| # bag_filename="https://librealsense.intel.com/rs-tests/TestData/outdoors_1color.bag"; | |
| # wget $bag_filename -P "records/" | |
| # bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag"; | |
| # wget $bag_filename -P "records/" | |
| # sudo apt install ros-${{ matrix.ros_distro}}-launch-pytest | |
| - name: Install Packages For Foxy Tests | |
| if: ${{ matrix.ros_distro == 'foxy' }} | |
| run: | | |
| # To avoid mixing of 'apt' provided packages and 'pip' provided packages, one way is to create virtual env | |
| # and manage python packages within it. Ref: https://peps.python.org/pep-0668/ | |
| python3 -m venv .venv | |
| # Activate the virtual env such that following python related commands run within it. | |
| source .venv/bin/activate | |
| sudo apt-get install python3-pip | |
| # numpy-quaternion needs numpy<2.0.0. Chose 1.24.1 as it is the highest version that support foxy. | |
| pip3 install --force-reinstall numpy==1.24.1 | |
| pip3 install numpy-quaternion tqdm pyyaml | |
| - name: Install Packages For Humble/Iron/Rolling/Jazzy Tests | |
| if: ${{ matrix.ros_distro != 'foxy' }} | |
| run: | | |
| # To avoid mixing of 'apt' provided packages and 'pip' provided packages, one way is to create virtual env | |
| # and manage python packages within it. Ref: https://peps.python.org/pep-0668/ | |
| python3 -m venv .venv | |
| # Activate the virtual env such that following python related commands run within it. | |
| source .venv/bin/activate | |
| sudo apt-get install python3-pip | |
| # numpy-quaternion needs numpy<2.0.0. Chose 1.26.4 as it is the lowest working version for ubuntu 24.04. | |
| pip3 install --force-reinstall numpy==1.26.4 | |
| pip3 install numpy-quaternion tqdm pyyaml | |
| - name: Run Tests | |
| run: | | |
| cd ${{github.workspace}}/ros2 | |
| source ${{github.workspace}}/.bashrc | |
| . install/local_setup.bash | |
| # the next command might be needed for foxy distro, since this package is not installed | |
| # by default in ubuntu 20.04. For other distro, the apt install command will be ignored. | |
| sudo apt install -y ros-${{matrix.ros_distro}}-sensor-msgs-py | |
| source ../.venv/bin/activate | |
| python3 src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file | |
| # don't run integration tests for foxy since some testing dependecies packages like | |
| # tf_ros_py are not avaialble | |
| # TODO: check when we can run integration tests on rolling | |
| - name: Run integration tests | |
| if: ${{ matrix.ros_distro != 'rolling' && matrix.ros_distro != 'foxy' }} | |
| run: | | |
| cd ${{github.workspace}}/ros2 | |
| source ${{github.workspace}}/.bashrc | |
| . install/local_setup.bash | |
| #export ROSBAG_FILE_PATH=${{github.workspace}}/ros2/records/ | |
| colcon test --packages-select realsense2_camera --event-handlers console_direct+ | |
| colcon test-result --all --test-result-base build/realsense2_camera/test_results/ --verbose |