port ci to gh

Author: alaurenzi

.github/workflows/build-and-test-ros1-focal.yml

@@ -0,0 +1,25 @@
+name: Build and Test (Focal-ROS1)
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+jobs:
+
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+    - name: Build the Docker image and start the container
+      run: docker compose up -d
+      working-directory: ./docker/focal-ros1
+    - name: Compile the library
+      run: docker compose exec dev ./scripts/build.bash
+      working-directory: ./docker/focal-ros1
+    - name: Run tests
+      run: docker compose exec dev ./scripts/test.bash
+      working-directory: ./docker/focal-ros1

.github/workflows/build-and-test-ros2-noble.yml

@@ -0,0 +1,25 @@
+name: Build and Test (Noble-ROS2)
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+jobs:
+
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+    - name: Build the Docker image and start the container
+      run: docker compose up -d
+      working-directory: ./docker/noble-ros2 
+    - name: Compile the library
+      run: docker compose exec dev ./scripts/build.bash
+      working-directory: ./docker/noble-ros2
+    - name: Run tests
+      run: docker compose exec dev ./scripts/test.bash
+      working-directory: ./docker/noble-ros2

.travis.yml

@@ -0,0 +1 @@
+FROM hhcmhub/xbot2-focal-dev

docker/focal-ros1/Dockerfile

@@ -0,0 +1,14 @@
+services:
+  dev:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    volumes:
+      - ./scripts:/home/user/scripts:ro
+      - ../..:/home/user/test_ws/src/matlogger2:ro
+    entrypoint: /bin/bash
+    tty: true
+    stdin_open: true
+    environment:
+      - TERM=xterm-256color
+      - FOREST_JOBS

docker/focal-ros1/compose.yml

@@ -0,0 +1,26 @@
+#!/bin/bash
+set -e
+
+# make forest https
+export HHCM_FOREST_CLONE_DEFAULT_PROTO=https
+
+# create ws and source it
+mkdir -p test_ws && cd test_ws
+forest init
+
+# setup env
+source /opt/ros/noetic/setup.bash
+source setup.bash
+
+# add recipes
+forest add-recipes git@github.com:advrhumanoids/multidof_recipes.git -t master
+
+# build
+export PYTHONUNBUFFERED=1
+forest grow pybind11 --verbose --clone-depth 1 -j ${FOREST_JOBS:-1}
+forest grow matlogger2 --verbose --clone-depth 1 -j ${FOREST_JOBS:-1}
+
+# build tests
+cd build/matlogger2
+cmake -DBUILD_TESTS=1 .
+make -j ${FOREST_JOBS:-1}

docker/focal-ros1/scripts/build.bash

@@ -0,0 +1,5 @@
+#!/bin/bash
+set -e
+
+cd test_ws/build/matlogger2
+ctest --output-on-failure

docker/focal-ros1/scripts/test.bash

@@ -0,0 +1 @@
+FROM hhcmhub/xbot2-noble-dev

docker/noble-ros2/Dockerfile

@@ -0,0 +1,14 @@
+services:
+  dev:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    volumes:
+      - ./scripts:/home/user/scripts:ro
+      - ../..:/home/user/test_ws/src/matlogger2:ro
+    entrypoint: /bin/bash
+    tty: true
+    stdin_open: true
+    environment:
+      - TERM=xterm-256color
+      - FOREST_JOBS

docker/noble-ros2/compose.yml

@@ -0,0 +1,30 @@
+#!/bin/bash
+set -e
+
+# make forest https
+export HHCM_FOREST_CLONE_DEFAULT_PROTO=https
+
+# activate python venv
+source env/bin/activate
+
+# create ws and source it
+sudo chown user:user test_ws
+mkdir -p test_ws && cd test_ws
+forest init
+
+# setup env
+source /opt/ros/jazzy/setup.bash
+source setup.bash
+
+# add recipes
+forest add-recipes git@github.com:advrhumanoids/multidof_recipes.git -t ros2
+
+# build
+export PYTHONUNBUFFERED=1
+# forest grow pybind11 --verbose --clone-depth 1 -j 10
+forest grow matlogger2 --verbose --clone-depth 1 -j ${FOREST_JOBS:-1}
+
+# build tests
+cd build/matlogger2
+cmake -DBUILD_TESTS=1 .
+make -j ${FOREST_JOBS:-1}