Merge branch 'main' into HEAD

.github/workflows/scheduled.yaml → .github/workflows/nightly.yaml

@@ -1,4 +1,4 @@
-name: scheduled
+name: nightly
 
 on:
   workflow_dispatch:

.github/workflows/packages.build.yaml

@@ -0,0 +1,54 @@
+name: reusable packages workflow
+
+on:
+  # make this workflow reusable (and only so)
+  workflow_call:
+    inputs:
+      ARCH:
+        type: string
+        description: build architecture
+        required: true
+      DEB_DISTRO:
+        type: string
+        description: build distribution
+        required: true
+
+env:
+  TERM: xterm  # needed for colored output of unittests
+
+jobs:
+  build:
+    name: "${{ inputs.DEB_DISTRO }}-${{ inputs.ARCH }}"
+    runs-on: ${{ inputs.ARCH  == 'x64' && 'ubuntu-22.04' || (inputs.ARCH == 'arm64' && 'ubuntu-22.04-arm' || inputs.ARCH) }}
+
+    steps:
+      - run: pip install gitpython
+      - uses: actions/checkout@v4
+      - name: fetch ${{ github.base_ref }}
+        run: |
+          git fetch --no-tags --depth=1 origin ${{ github.base_ref }}
+          git checkout ${{ github.base_ref }}
+          git checkout HEAD@{1}
+      - name: determine new packages
+        run: python3 src/scripts/pkg_diffs.py "${{ github.base_ref }}"
+      - name: Build new packages
+        uses: ./
+        env:
+          DEB_DISTRO: ${{ inputs.DEB_DISTRO }}
+          ARCH: ${{ inputs.ARCH }}
+          ROS_SOURCES: /tmp/diff.repos
+          INSTALL_GPG_KEYS: |
+            sudo curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg
+            sudo mkdir -p /etc/ros/rosdep/sources.list.d
+            echo "yaml https://ros.packages.techfak.net/ros-one.yaml ${{ inputs.DEB_DISTRO }}" | sudo tee /etc/ros/rosdep/sources.list.d/1-ros-one.list
+          EXTRA_DEB_SOURCES: "deb [signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net ${{inputs.DEB_DISTRO}}-testing main"
+          EXTRA_SBUILD_CONFIG: ${{ vars.EXTRA_SBUILD_CONFIG }}
+          EXTRA_SBUILD_OPTS: ${{ vars.EXTRA_SBUILD_OPTS }}
+          DEB_BUILD_OPTIONS: ${{ vars.DEB_BUILD_OPTIONS || 'nocheck' }}
+          CONTINUE_ON_ERROR: ${{ vars.CONTINUE_ON_ERROR || true }}
+          SKIP_EXISTING: ${{ vars.SKIP_EXISTING || false }}
+          SKIP_KNOWN_FAILING: false
+          INSTALL_TO_CHROOT: false
+          VERBOSE: ${{ vars.VERBOSE || '' }}
+          DOWNLOAD_DEBS: false
+          DEBS_ARTIFACT_NAME: ${{ inputs.DEB_DISTRO }}-${{ inputs.ARCH }}-debs

.github/workflows/packages.yaml

@@ -0,0 +1,24 @@
+name: packages
+
+on:
+  pull_request:
+    paths:
+      - '*.repos'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        DEB_DISTRO: [ jammy, noble ]
+        ARCH: [ x64, arm64 ]
+
+    uses: ./.github/workflows/packages.build.yaml
+    secrets: inherit
+    with:
+      DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
+      ARCH: ${{ matrix.ARCH }}

ros-one.repos

@@ -519,6 +519,10 @@ repositories:
     type: git
     url: https://github.com/ros-perception/open_karto.git
     version: melodic-devel
+  opencv_apps:
+    type: git
+    url: https://github.com/ros-perception/opencv_apps.git
+    version: indigo
   openni2_camera:
     type: git
     url: https://github.com/ros-o/openni2_camera.git

src/scripts/pkg_diffs.py

@@ -0,0 +1,48 @@
+# /usr/bin/env python3
+
+import os
+import git
+import yaml
+import argparse
+
+
+def load_from_commit(repo_path, sha, files):
+    repo = git.Repo(repo_path)
+    commit = repo.commit(sha)
+    content = dict()
+    for file in files:
+        file_content = commit.tree / file
+        content.update(yaml.safe_load(file_content.data_stream.read()))
+    return content
+
+
+def is_same(left, right):
+    for key, val in left.items():
+        if key not in right or left[key] != right[key]:
+            return False
+    return True
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Determine changed packages")
+    parser.add_argument("sha", help="commit SHA to compare with")
+    parser.add_argument(
+        "files", nargs="*", default=["ros-one.repos"], help=".repos files to consider"
+    )
+    args = parser.parse_args()
+
+    old = load_from_commit(os.getcwd(), args.sha, args.files)
+    new = load_from_commit(os.getcwd(), "HEAD", args.files)
+
+    try:
+        del new["known_failures"]
+    except KeyError:
+        pass
+
+    # Remove entries from new that already exist in old
+    for key, val in old["repositories"].items():
+        if key in new["repositories"] and is_same(new["repositories"][key], val):
+            del new["repositories"][key]
+
+    with open("/tmp/diff.repos", "w") as f:
+        yaml.dump(new, f)