.gitlab-ci.yml

# General concept is strongly inspired by the industrial_ci project https://github.com/ros-industrial/industrial_ci
---
variables:
  GIT_STRATEGY: clone

stages:
- build

.build_matrix:
  parallel:
    matrix:
      - RUN_NAME: "22.04+1.4.3"  # No effect on CI, just for making the gitlab pipeline view easier to read
        CI_IMAGE: ros:humble-ros-core-jammy
        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.4.3/ifm3d-ubuntu-22.04-amd64-debs_1.4.3.tar
        ROS_DISTRO: humble
      - RUN_NAME: "22.04+1.5.0"
        CI_IMAGE: ros:humble-ros-core-jammy
        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.0/ifm3d-ubuntu-22.04-amd64-debs_1.5.0.tar
        ROS_DISTRO: humble
      - RUN_NAME: "22.04+1.5.1"
        CI_IMAGE: ros:humble-ros-core-jammy
        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.1/ifm3d-ubuntu-22.04-amd64-debs_1.5.1.tar
        ROS_DISTRO: humble
      - RUN_NAME: "22.04+1.5.2"
        CI_IMAGE: ros:humble-ros-core-jammy
        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.2/ifm3d-ubuntu-22.04-amd64-debs_1.5.2.tar
        ROS_DISTRO: humble
      - RUN_NAME: "22.04+1.5.3"
        CI_IMAGE: ros:humble-ros-core-jammy
        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.3/ifm3d-ubuntu-22.04-amd64-debs_1.5.3.tar
        ROS_DISTRO: humble

      - RUN_NAME: "24.04+1.5.3"
        CI_IMAGE: ros:jazzy-ros-core-noble
        IFM3D_PACKAGE_PATH: https://github.com/ifm/ifm3d/releases/download/v1.5.3/ifm3d-ubuntu-22.04-amd64-debs_1.5.3.tar
        ROS_DISTRO: jazzy


build:  # very short job name to keep the pipeline preview readable on Gitlab
  stage: build
  image: $CI_IMAGE
  parallel: !reference [.build_matrix,parallel]

  before_script:
  # Download the released version ofifm3d from github
  - apt-get update
  - apt-get install -y curl
  - curl --location $IFM3D_PACKAGE_PATH | tar x
  # Install dependencies
  - apt-get install -y libboost-all-dev git libcurl4-openssl-dev libgtest-dev libgoogle-glog-dev
    libxmlrpc-c++8-dev libopencv-dev libpcl-dev libproj-dev python3-dev python3-pip build-essential
    coreutils findutils cmake locales ninja-build
  # Install ifm3d packages
  - dpkg -i ./ifm3d_*.deb
  # Cleanup
  - rm ifm3d_*.deb

  script:
  # Install some dependencies, update rosdep
  - apt-get update
  - apt-get install -y ros-dev-tools
  - rosdep init || true  # init needed for 22.04 image but throws error on 24.04; error can be ignored
  - rosdep update > /dev/null
  # Create Workspace and copy sources
  - mkdir -p /root/target_ws/src
  - cp -r . /root/target_ws/src
  - cd /root/target_ws/
  # Install dependencies, build workspace and run tests
  - source /opt/ros/$ROS_DISTRO/setup.bash
  - rosdep install --from-paths /root/target_ws/src --ignore-src -y
  - colcon build --event-handlers desktop_notification- status- terminal_title- --cmake-args -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
  - colcon test --event-handlers desktop_notification- status- terminal_title- console_cohesion+ --executor sequential --ctest-args -j1