main.yml

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