config.yml

# jsk_travis
on:
  push:
    branches:
      - master
  pull_request:

env:
  DISPLAY: ':0.0'

jobs:
  ros:
    runs-on: ubuntu-latest
#    continue-on-error: ${{ matrix.experimental }}
    strategy:
      fail-fast: false
      matrix:
        include:
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04
            USE_DEB : true
            EXTRA_DEB: "ros-indigo-pr2-gazebo ros-indigo-pr2-arm-kinematics"
            NOT_TEST_INSTALL: true
            TEST_PKGS: "pr2eus"
            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y; sudo apt dist-upgrade -y; mkdir -p ~/.gazebo/; git clone --depth=1 https://github.com/osrf/gazebo_models.git ~/.gazebo/models"
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04
            USE_DEB : true
            EXTRA_DEB: "ros-indigo-pr2-gazebo ros-indigo-pr2-arm-kinematics"
            NOT_TEST_INSTALL: true
            TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"
            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y; sudo apt dist-upgrade -y; mkdir -p ~/.gazebo/; git clone --depth=1 https://github.com/osrf/gazebo_models.git ~/.gazebo/models"
          - ROS_DISTRO: kinetic
            CONTAINER: ubuntu:16.04
            USE_DEB : true
            TEST_PKGS: "pr2eus"
            EXTRA_DEB: "ros-kinetic-moveit-ros-perception"
            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu xenial main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y"
          - ROS_DISTRO: kinetic
            CONTAINER: ubuntu:16.04
            USE_DEB : true
            TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"
            EXTRA_DEB: "ros-kinetic-moveit-ros-perception"
            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu xenial main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y"
          - ROS_DISTRO: melodic
            CONTAINER: ubuntu:18.04
            USE_DEB : true
            TEST_PKGS: "pr2eus"
          - ROS_DISTRO: melodic
            CONTAINER: ubuntu:18.04
            USE_DEB : true
            TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"
          - ROS_DISTRO: noetic
            CONTAINER: ubuntu:20.04
            USE_DEB : true
            BUILD_PKGS: "pr2eus"
            TEST_PKGS: "pr2eus"
          - ROS_DISTRO: noetic
            CONTAINER: ubuntu:20.04
            USE_DEB : true
            BUILD_PKGS: "pr2eus_moveit pr2eus_tutorials"
            TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"
          - ROS_DISTRO: noetic
            CONTAINER: ubuntu:20.04
            USE_DEB : false
            BUILD_PKGS: "pr2eus_moveit pr2eus_tutorials"
            TEST_PKGS: "pr2eus"
          - ROS_DISTRO: noetic
            CONTAINER: ubuntu:20.04
            USE_DEB : false
            BUILD_PKGS: "pr2eus_moveit pr2eus_tutorials"
            TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"


    container:
      image: ${{ matrix.CONTAINER }}
      volumes:
        - /tmp/node20:/__e/node20

    steps:
      - name: Install latest git ( use sudo for ros-ubuntu )
        run: |
          (apt-get update && apt-get install -y sudo) || echo "OK"
          sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git

      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
        run: |
          set -x
          export USER=$(whoami)
          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
             git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
             sudo mkdir -p /__w/
             sudo chmod 777 -R /__w/
             sudo chown -R $USER $HOME
             # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
             # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
             # ls -al /home/runner/work/_temp/_github_workflow/
          else
             git config --global --add safe.directory $GITHUB_WORKSPACE
          fi

      - name: Try to replace `node` with an glibc 2.17
        shell: bash
        run: |
          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
             export USER=$(whoami)
             sudo chmod 777 -R /__e/node20
             sudo chown -R $USER /__e/node20
          fi
          ls -lar /__e/node20 &&
          sudo apt-get install -y curl &&
          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
          cd /__e/node20 &&
          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
          ls -lar /__e/node20/bin/

      - name: Checkout
        uses: actions/checkout@v3.0.2

      - name: Run jsk_travis
        uses: jsk-ros-pkg/jsk_travis@master
        with:
          ROS_PARALLEL_TEST_JOBS : "-j1"
          CATKIN_PARALLEL_TEST_JOBS : "-p1"
          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
          USE_DEB :  ${{ matrix.USE_DEB }}
          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
          BUILD_PKGS: ${{ matrix.BUILD_PKGS }}
          TEST_PKGS : ${{ matrix.TEST_PKGS }}
          EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
          BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}