enable github workflows to rolling branch. (#52) (#53)

* enable github workflows to rolling branch.

Signed-off-by: Tomoya Fujita <[email protected]>

* add exec permission for scripts/github_workflows.sh.

Signed-off-by: Tomoya Fujita <[email protected]>

* enable workflow for other distro branches.

Signed-off-by: Tomoya Fujita <[email protected]>

---------

Signed-off-by: Tomoya Fujita <[email protected]>
(cherry picked from commit cb678ba)

Co-authored-by: Tomoya Fujita <[email protected]>

.github/workflows/humble.yaml

@@ -0,0 +1,33 @@
+# This is workflow for humble distribution
+name: humble
+
+# Because of rcl_logging interface, rcl_logging_syslog has each distribution branch.
+on:
+  push:
+    branches: [ "humble" ]
+  pull_request:
+    branches: [ "humble" ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+
+  # each job goes for each ros supported distribution.
+  # each job description absorb the distribution dependency as much as possible,
+  # so that build/test verification script can be agnostic from distribution dependency.
+
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:humble
+      env:
+        ROS_DISTRO: humble
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - name: Build and Test with ROS humble
+        shell: bash
+        run: |
+          ./scripts/github_workflows.sh

.github/workflows/iron.yaml

@@ -0,0 +1,33 @@
+# This is workflow for iron distribution
+name: iron
+
+# Because of rcl_logging interface, rcl_logging_syslog has each distribution branch.
+on:
+  push:
+    branches: [ "iron" ]
+  pull_request:
+    branches: [ "iron" ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+
+  # each job goes for each ros supported distribution.
+  # each job description absorb the distribution dependency as much as possible,
+  # so that build/test verification script can be agnostic from distribution dependency.
+
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:iron
+      env:
+        ROS_DISTRO: iron
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - name: Build and Test with ROS iron
+        shell: bash
+        run: |
+          ./scripts/github_workflows.sh

.github/workflows/jazzy.yaml

@@ -0,0 +1,33 @@
+# This is workflow for jazzy distribution
+name: jazzy
+
+# Because of rcl_logging interface, rcl_logging_syslog has each distribution branch.
+on:
+  push:
+    branches: [ "jazzy" ]
+  pull_request:
+    branches: [ "jazzy" ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+
+  # each job goes for each ros supported distribution.
+  # each job description absorb the distribution dependency as much as possible,
+  # so that build/test verification script can be agnostic from distribution dependency.
+
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:jazzy
+      env:
+        ROS_DISTRO: jazzy
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - name: Build and Test with ROS jazzy
+        shell: bash
+        run: |
+          ./scripts/github_workflows.sh

.github/workflows/rolling.yaml

@@ -0,0 +1,33 @@
+# This is workflow for rolling distribution
+name: rolling
+
+# Because of rcl_logging interface, rcl_logging_syslog has each distribution branch.
+on:
+  push:
+    branches: [ "rolling" ]
+  pull_request:
+    branches: [ "rolling" ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+
+  # each job goes for each ros supported distribution.
+  # each job description absorb the distribution dependency as much as possible,
+  # so that build/test verification script can be agnostic from distribution dependency.
+
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:rolling
+      env:
+        ROS_DISTRO: rolling
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - name: Build and Test with ROS rolling
+        shell: bash
+        run: |
+          ./scripts/github_workflows.sh

scripts/github_workflows.sh

@@ -0,0 +1,113 @@
+#!/bin/bash
+
+#####################################################################
+# rcl_logging_syslog rcl logging implementation via rsyslog/syslog.
+#
+# This script builds and tests it within ros distro public docker images.
+#
+# To avoid updating and modifying the files under `.github/workflows`,
+# this scripts should be adjusted workflow process accordingly.
+# And `.github/workflows` just calls this script in the workflow pipeline.
+# This allows us to maintain the workflow process easier for contributors.
+#
+#####################################################################
+
+########################
+# Function Definitions #
+########################
+
+function mark {
+    export $1=`pwd`;
+}
+
+function exit_trap() {
+    # shellcheck disable=SC2317  # Don't warn about unreachable commands in this function
+    if [ $? != 0 ]; then
+        echo "Command [$BASH_COMMAND] is failed"
+        exit 1
+    fi
+}
+
+function install_prerequisites () {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: update and install dependent packages."
+    apt update && apt upgrade -y
+    apt install -y git
+    # TODO(@fujitatomoya) probably we should use rosdep to install dependencies to build
+    apt install -y ros-rolling-mimick-vendor ros-rolling-performance-test-fixture ros-rolling-test-msgs
+    #apt install -y ros-${ROS_DISTRO}-desktop --no-install-recommends
+    cd $there
+}
+
+function setup_colcon_env () {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: set up colcon build environment."
+    mkdir -p ${COLCON_WORKSPACE}/src
+    # fetch rcl repository in local file system to build with rcl_logging_syslog.
+    # currently no dynamic loading is supported with rcl_logging, so we need to build rcl together.
+    # see more details for https://github.com/ros2/rcl/issues/1178
+    git clone -b ${ROS_DISTRO} https://github.com/ros2/rcl.git ${COLCON_WORKSPACE}/src/rcl
+    # move rcl_logging_syslog directory to colcon workspace
+    cd ${COLCON_WORKSPACE}
+    cp -rf $there ${COLCON_WORKSPACE}/src
+}
+
+function setup_rsyslog () {
+    # this is required basically only for container environment.
+    # for security reason, container does not have system service or daemon processes.
+    # just for the test with rsyslog, it installs rsyslog and start the rsyslog daemon.
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: install and setup rsyslogd."
+    apt update && apt upgrade -y
+    apt install -y rsyslog
+    # permission setting for rsyslog file sink for the test.
+    mkdir -p /var/log/ros
+    chown syslog:adm /var/log/ros
+    # copy the rsyslogd configuration file for the test
+    cd ${COLCON_WORKSPACE}
+    cp ./src/rcl_logging_syslog/config/ros2-test.conf /etc/rsyslog.d/
+    rsyslogd -N1
+    # start the rsyslogd daemon in the background process.
+    /usr/sbin/rsyslogd -n -iNONE &
+}
+
+function build_colcon_package () {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: build rcl and rcl_logging_syslog packages."
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+    cd ${COLCON_WORKSPACE}
+    export RCL_LOGGING_IMPLEMENTATION=rcl_logging_syslog
+    colcon build --symlink-install --cmake-clean-cache --packages-select rcl_logging_syslog rcl
+}
+
+function test_colcon_package () {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: test rcl_logging_syslog packages."
+    # source local workspace projects
+    cd ${COLCON_WORKSPACE}
+    source ./install/local_setup.bash
+    # initiate the colcon test
+    colcon test --event-handlers console_direct+ --packages-select rcl_logging_syslog
+}
+
+########
+# Main #
+########
+
+export DEBIAN_FRONTEND=noninteractive
+export COLCON_WORKSPACE=/tmp/colcon_ws
+
+# mark the working space root directory, so that we can come back anytime with `cd $there`
+mark there
+
+# set the trap on error
+trap exit_trap ERR
+
+# call install functions in sequence
+install_prerequisites
+setup_colcon_env
+setup_rsyslog
+build_colcon_package
+test_colcon_package
+
+exit 0