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Add Toy example package and the skeleton of a simple example.
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‎.github/workflows/simple.yaml

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name: Simple Build
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on:
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push:
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# Will trigger on MERGES (or pushes) to main branch.
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branches:
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- 'main'
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pull_request:
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# Will ALSO trigger any time a PR is opened merging to main.
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# Specify '*' here to merge on PRs being opened against ANY branch.
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branches:
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- 'main'
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jobs:
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# The name of the job is "build". All jobs run in SEPARATE containers, so
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# they may run on separate machines and have the workspace wiped inbetween.
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build:
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# Run on a github-hosted runner. To specify our own, select:
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# [self-hosted, linux] instead.
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runs-on: ubuntu-latest
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# This is the docker container that the image will run in. This is 20.04
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# with ros-noetic-desktop meta-package.
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container: osrf/ros:noetic-desktop
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steps:
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# Name is optional, uses: specify which ACTION is used (basically github
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# macros). You can write your own! Use with: to specify extra parameters.
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- name: Check out depository
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- uses: actions/checkout@v3
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with:
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path: ${HOME}/catkin_ws/src/toy_example_package
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submodules: recursive
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#- name: Install catkin-tools on Noetic
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# run: |
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# apt update && apt install -y python3-pip
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# pip3 install osrf-pycommon
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# apt update && apt install -y python3-wstool python3-catkin-tools
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- name: Build test
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run: |
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cd ${HOME}/catkin_ws
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catkin init
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catkin config --extend "/opt/ros/noetic"
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catkin config --merge-devel
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rosdep update
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rosdep install --from-paths src --ignore-src -y --rosdistro noetic
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catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
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catkin build --continue toy_example_package
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# shell: bash

‎README.md

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# asl-actions
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Github Actions for ASL
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Github Actions and documentation for ASL.
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## Getting Started
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First, you can start with the quick-start docs from GitHub: https://docs.github.com/en/actions/quickstart
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Then you can follow along with a few simple tutorial workflows.
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‎Dockerfile renamed to ‎actions/delete-workspace/Dockerfile

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‎action.yml renamed to ‎actions/delete-workspace/action.yml

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runs:
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using: 'docker'
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image: 'Dockerfile'
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‎entrypoint.sh renamed to ‎actions/delete-workspace/entrypoint.sh

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‎example_workflows/simple_catkin.yml

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name: Build and Test Catkin Package
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on:
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push:
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# Will trigger on MERGES (or pushes) to main branch.
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branches:
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- 'main'
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pull_request:
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# Will ALSO trigger any time a PR is opened merging to main.
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# Specify '*' here to merge on PRs being opened against ANY branch.
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branches:
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- 'main'
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jobs:
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# The name of the job is "build". All jobs run in SEPARATE containers, so
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# they may run on separate machines and have the workspace wiped inbetween.
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build:
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# Run on a github-hosted runner. To specify our own, select:
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# [self-hosted, linux] instead.
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runs-on: ubuntu-latest
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# This is the docker container that the image will run in. This is 20.04
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# with ros-noetic-desktop meta-package.
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container: osrf/ros:noetic-desktop
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steps:
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# Name is optional, uses: specify which ACTION is used (basically github
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# macros). You can write your own! Use with: to specify extra parameters.
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- name: Check out depository
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- uses: actions/checkout@v3
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with:
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path: ${HOME}/catkin_ws/src/my_package_name
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submodules: recursive
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- name: Install catkin-tools on Noetic
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run: |
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apt update && apt install -y python3-pip
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pip3 install osrf-pycommon
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apt update && apt install -y python3-wstool python3-catkin-tools
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- name: Install Dependencies
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run: |
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$GITHUB_WORKSPACE/install/prepare-jenkins-slave.sh
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shell: bash
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- name: Build test
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working-directory:
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env:
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DEBIAN_FRONTEND: noninteractive
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run: |
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apt update
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apt install -y autoconf libtool git qt5-default
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mkdir -p ${HOME}/catkin_ws/src;
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cd ${HOME}/catkin_ws
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catkin init
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catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}"
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catkin config --merge-devel
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cd ${HOME}/catkin_ws
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rosdep update
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rosdep install --from-paths src --ignore-src -y --rosdistro noetic
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catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
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catkin build --continue my_package_name
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shell: bash

‎toy_example_package/CMakeLists.txt

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cmake_minimum_required(VERSION 3.0.2)
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project(toy_example_package)
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add_compile_options(-std=c++11)
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find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
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catkin_package(
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CATKIN_DEPENDS std_msgs roscpp
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)
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include_directories(include ${catkin_INCLUDE_DIRS})
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add_executable(publisher_node src/publisher.cpp)
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add_dependencies(publisher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(publisher_node
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${catkin_LIBRARIES}
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)
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‎toy_example_package/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>toy_example_package</name>
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<version>0.0.0</version>
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<description>Toy example package for Github Actions workflows.</description>
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<maintainer email="[email protected]">Helen Oleynikova</maintainer>
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<license>BSD</license>
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<depend>roscpp</depend>
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<depend>std_msgs</depend>
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<buildtool_depend>catkin</buildtool_depend>
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<export>
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</export>
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</package>

‎toy_example_package/src/publisher.cpp

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#include <ros/ros.h>
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#include <std_msgs/String.h>
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#include <sstream>
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// All this code is from the publisher tutorial:
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// https://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
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int main(int argc, char **argv) {
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ros::init(argc, argv, "toy_example_publisher");
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ros::NodeHandle nh, nh_private("~");
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ros::Publisher pub = nh_private.advertise<std_msgs::String>("hello", 1);
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ros::Rate loop_rate(10); // Hz
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int count = 0;
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while (ros::ok()) {
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std_msgs::String msg;
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std::stringstream ss;
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ss << "hello world " << count;
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msg.data = ss.str();
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ROS_INFO("%s", msg.data.c_str());
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pub.publish(msg);
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ros::spinOnce();
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loop_rate.sleep();
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++count;
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}
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return 0;
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}

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