Add iron CI

.github/workflows/iron.yml

@@ -0,0 +1,39 @@
+name: Iron
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+env:
+  HOME: /root
+  # Coupled with our use of the test_log crate this should give us good CI output on failure
+  RUST_LOG: debug
+
+jobs:
+  humble:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+    container: carter12s/roslibrust-ci-iron:latest
+    timeout-minutes: 20
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v3
+        with:
+          submodules: 'true'
+      - name: Lint
+        run: source /root/.cargo/env; cargo fmt --all -- --check
+      - name: Build Main Lib
+        run: source /root/.cargo/env; cargo build
+        # This step is required to confirm feature combinations work, the main workspace build does all features
+      - name: Build Proc Macro
+        run: source /root/.cargo/env; cargo build -p roslibrust_codegen_macro
+      - name: Unit Tests
+        run: source /root/.cargo/env; cargo test
+      - name: Start rosbridge
+        run: source /opt/ros/iron/setup.bash; ros2 launch rosbridge_server rosbridge_websocket_launch.xml & disown; ros2 run rosapi rosapi_node & sleep 1
+      - name: Integration Tests
+        run: source /root/.cargo/env; cargo test --features ros2_test -- --test-threads 1

README.md

@@ -2,6 +2,7 @@
 [![Noetic](https://github.com/Carter12s/roslibrust/actions/workflows/noetic.yml/badge.svg)](https://github.com/Carter12s/roslibrust/actions/workflows/noetic.yml)
 [![Galactic](https://github.com/Carter12s/roslibrust/actions/workflows/galactic.yml/badge.svg)](https://github.com/Carter12s/roslibrust/actions/workflows/galactic.yml)
 [![Humble](https://github.com/Carter12s/roslibrust/actions/workflows/humble.yml/badge.svg)](https://github.com/Carter12s/roslibrust/actions/workflows/humble.yml)
+[![Iron](https://github.com/Carter12s/roslibrust/actions/workflows/iron.yml/badge.svg)](https://github.com/Carter12s/roslibrust/actions/workflows/iron.yml)
 [![License:MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
 This package aims to provide a convenient intermediary between ROS1's rosbridge and Rust similar to roslibpy and roslibjs.

docker/galactic/Dockerfile

@@ -4,18 +4,13 @@ LABEL maintainer="Carter Schultz <[email protected]>"
 # Required by github CI for submodule support
 RUN apt update && apt install -y git
 
-# Adapted from https://github.com/JoaquinGimenez1/docker-noetic-rosbridge/blob/main/Dockerfile
 RUN apt update && apt install -y ros-galactic-rosbridge-suite
 
 # Curl required to install rust, build-essential required to build quote & proc-macro2
 RUN apt update && apt install -y --fix-missing curl build-essential
 # Install latest stable rust
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 
-# Update Cargo Registry
-# See this for why we do it so wierd https://github.com/rust-lang/cargo/issues/3377
-RUN /root/.cargo/bin/cargo install lazy_static; exit 0
-
 WORKDIR /
 COPY entrypoint.sh .
 RUN chmod +x entrypoint.sh

docker/humble/Dockerfile

@@ -4,18 +4,13 @@ LABEL maintainer="Carter Schultz <[email protected]>"
 # Required by github CI for submodule support
 RUN apt update && apt install -y git
 
-# Adapted from https://github.com/JoaquinGimenez1/docker-noetic-rosbridge/blob/main/Dockerfile
 RUN apt update && apt install -y ros-humble-rosbridge-suite
 
 # Curl required to install rust, build-essential required to build quote & proc-macro2
 RUN apt update && apt install -y --fix-missing curl build-essential
 # Install latest stable rust
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 
-# Update Cargo Registry
-# See this for why we do it so wierd https://github.com/rust-lang/cargo/issues/3377
-RUN /root/.cargo/bin/cargo install lazy_static; exit 0
-
 WORKDIR /
 COPY entrypoint.sh .
 RUN chmod +x entrypoint.sh

docker/humble/README.md

@@ -1,10 +1,10 @@
-# Galactic CI Docker Image
-Produces a docker image including both galactic rosbridge and needed rust.
+# Humble CI Docker Image
+Produces a docker image including both humble rosbridge and needed rust.
 
 # Building / Publishing (currently only carter has access, need to fix)
-- docker build -t carter12s/roslibrust-ci-galactic:latest .
+- docker build -t carter12s/roslibrust-ci-humble:latest .
 - Maybe needed: docker login
-- docker push carter12s/roslibrust-ci-galactic:latest
+- docker push carter12s/roslibrust-ci-humble:latest
 
 For debug:
-docker run -it carter12s/roslibrust-ci-galactic /bin/bash
+docker run -it carter12s/roslibrust-ci-humble /bin/bash

docker/iron/Dockerfile

@@ -0,0 +1,17 @@
+FROM ros:iron-ros-core
+LABEL maintainer="Carter Schultz <[email protected]>"
+
+# Required by github CI for submodule support
+RUN apt update && apt install -y git
+
+RUN apt update && apt install -y ros-iron-rosbridge-suite
+
+# Curl required to install rust, build-essential required to build quote & proc-macro2
+RUN apt update && apt install -y --fix-missing curl build-essential
+# Install latest stable rust
+RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
+
+WORKDIR /
+COPY entrypoint.sh .
+RUN chmod +x entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]

docker/iron/README.md

@@ -0,0 +1,10 @@
+# Iron CI Docker Image
+Produces a docker image including both iron rosbridge and needed rust.
+
+# Building / Publishing (currently only carter has access, need to fix)
+- docker build -t carter12s/roslibrust-ci-iron:latest .
+- Maybe needed: docker login
+- docker push carter12s/roslibrust-ci-iron:latest
+
+For debug:
+docker run -it carter12s/roslibrust-ci-iron /bin/bash

docker/iron/entrypoint.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$@"

docker/iron_compose.yaml

@@ -0,0 +1,7 @@
+version: "3.9"
+services:
+  rosbridge:
+    image: carter12s/roslibrust-ci-iron:latest
+    ports:
+      - "9090:9090"
+    command: bash -c "source /opt/ros/humble/setup.bash; ros2 launch rosbridge_server rosbridge_websocket_launch.xml & disown; ros2 run rosapi rosapi_node --ros-args --log-level debug"

docker/noetic/Dockerfile

@@ -9,10 +9,6 @@ RUN apt update && apt install -y --fix-missing curl build-essential
 # Install latest stable rust
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 
-# Update Cargo Registry
-# See this for why we do it so wierd https://github.com/rust-lang/cargo/issues/3377
-RUN /root/.cargo/bin/cargo install lazy_static; exit 0
-
 WORKDIR /
 COPY entrypoint.sh .
 RUN chmod +x entrypoint.sh

docker/noetic_cpp/Dockerfile

@@ -16,10 +16,6 @@ RUN apt update && apt install -y ros-noetic-ros-base
 # Install latest stable rust
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 
-# Update Cargo Registry
-# See this for why we do it so weird https://github.com/rust-lang/cargo/issues/3377
-RUN /root/.cargo/bin/cargo install lazy_static; exit 0
-
 WORKDIR /
 COPY entrypoint.sh .
 RUN chmod +x entrypoint.sh