generate-and-test.yml

name: Generate and test packages

# avoiding duplicate jobs on push with open pull_request: https://github.com/orgs/community/discussions/26940#discussioncomment-6656489
on: [push, pull_request]

jobs:

  generate:
    if: (github.event_name != 'pull_request' && ! github.event.pull_request.head.repo.fork) || (github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork)
    runs-on: ubuntu-latest
    strategy:
      matrix:
        include:
          - package_name: pkg_default
            template: ros2_cpp_pkg
            auto_shutdown: true
          - package_name: pkg_component
            template: ros2_cpp_pkg
            is_component: true
            auto_shutdown: true
          - package_name: pkg_lifecycle
            template: ros2_cpp_pkg
            is_lifecycle: true
            auto_shutdown: true
          - package_name: pkg_service
            template: ros2_cpp_pkg
            has_service_server: true
            auto_shutdown: true
          - package_name: pkg_action
            template: ros2_cpp_pkg
            has_action_server: true
            auto_shutdown: true
          - package_name: pkg_timer
            template: ros2_cpp_pkg
            has_timer: true
            auto_shutdown: true
          - package_name: pkg_no_params
            template: ros2_cpp_pkg
            has_params: false
            auto_shutdown: true
          - package_name: pkg_no_launch_file
            template: ros2_cpp_pkg
            has_launch_file: false
            auto_shutdown: true
          - package_name: pkg_all
            template: ros2_cpp_pkg
            is_component: true
            is_lifecycle: true
            has_service_server: true
            has_action_server: true
            has_timer: true
            auto_shutdown: true
          - package_name: pkg_interfaces
            template: ros2_interfaces_pkg
    steps:
      - name: Checkout code
        uses: actions/checkout@v4
      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: "3.10"
      - name: Install dependencies
        run: |
          pip install "copier~=9.2.0" "jinja2-strcase~=0.0.2"
      - name: Configure git to run copier
        run: |
          git config --global user.name "dummy"
          git config --global user.email "dummy@dummy.com"
      - name: Generate packages
        run: |
          copier copy --trust --defaults \
            -d template=${{ matrix.template }} \
            -d auto_shutdown=${{ matrix.auto_shutdown }} \
            -d package_name=${{ matrix.package_name }} \
            $( [ "${{ matrix.is_component }}" = "true" ] && echo "-d is_component=true" ) \
            $( [ "${{ matrix.is_lifecycle }}" = "true" ] && echo "-d is_lifecycle=true" ) \
            $( [ "${{ matrix.has_service_server }}" = "true" ] && echo "-d has_service_server=true" ) \
            $( [ "${{ matrix.has_action_server }}" = "true" ] && echo "-d has_action_server=true" ) \
            $( [ "${{ matrix.has_timer }}" = "true" ] && echo "-d has_timer=true" ) \
            $( [ "${{ matrix.has_params }}" = "false" ] && echo "-d has_params=false" ) \
            $( [ "${{ matrix.has_launch_file }}" = "false" ] && echo "-d has_launch_file=false" ) \
            . packages
      - name: Upload artifacts
        uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.package_name }}
          path: packages/${{ matrix.package_name }}

  build:
    if: (github.event_name != 'pull_request' && ! github.event.pull_request.head.repo.fork) || (github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork)
    runs-on: ubuntu-latest
    container:
      image: rwthika/ros2:jazzy
    needs: generate
    strategy:
      matrix:
        include:
          - package: pkg_default
            command: ros2 launch pkg_default pkg_default_launch.py
          - package: pkg_component
            command: ros2 launch pkg_component pkg_component_launch.py
          - package: pkg_lifecycle
            command: ros2 launch pkg_lifecycle pkg_lifecycle_launch.py
          - package: pkg_service
            command: ros2 launch pkg_service pkg_service_launch.py
          - package: pkg_action
            command: ros2 launch pkg_action pkg_action_launch.py
          - package: pkg_timer
            command: ros2 launch pkg_timer pkg_timer_launch.py
          - package: pkg_no_params
            command: ros2 launch pkg_no_params pkg_no_params_launch.py
          - package: pkg_no_launch_file
            command: ros2 run pkg_no_launch_file pkg_no_launch_file --ros-args -p param:=1.0
          - package: pkg_all
            command: ros2 launch pkg_all pkg_all_launch.py
          - package: pkg_interfaces
            command: |
              ros2 interface show pkg_interfaces/msg/Message && \
              ros2 interface show pkg_interfaces/srv/Service && \
              ros2 interface show pkg_interfaces/action/Action
    steps:
      - name: Checkout code
        uses: actions/checkout@v4
      - name: Download artifacts
        uses: actions/download-artifact@v4
        with:
          name: ${{ matrix.package }}
      - name: Build
        shell: bash
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          colcon build --packages-up-to ${{ matrix.package }}
      - name: Run
        shell: bash
        run: |
          source install/setup.bash
          ${{ matrix.command }}