Add basic CI (#19)

* Add basic CI

Signed-off-by: Evan Flynn <[email protected]>

* Fix xmllint error by reordering license before author

Signed-off-by: Evan Flynn <[email protected]>

* Fix uncrustify errors in dynmsg_demo package

Signed-off-by: Evan Flynn <[email protected]>

* Add missing includes for Jammy compilation

Signed-off-by: Evan Flynn <[email protected]>

Signed-off-by: Evan Flynn <[email protected]>

Author: flynneva

.github/workflows/build_test.yml

@@ -0,0 +1,68 @@
+name: Build and test
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - '**'
+  pull_request:
+    branches:
+      - main
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+env:
+  WORKSPACE_PATH: ros_ws
+  CLONE_PATH: ros_ws/src/${{ github.events.repo.name }}
+
+# only run one build doc workflow at a time, cancel any running ones
+concurrency: 
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - foxy
+          - galactic
+          - humble
+          - rolling
+        include:
+          # Foxy Fitzroy (June 2020 - May 2023)
+          - ros_distribution: foxy
+            docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
+          # Galactic Geochelone (May 2021 - November 2022)
+          - ros_distribution: galactic
+            docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
+          # Humble Hawksbill (May 2022 - May 2027)
+          - ros_distribution: humble
+            docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+          # Rolling Ridley  (June 2020 - Present)
+          - ros_distribution: rolling
+            docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
+    container:
+      image: ${{ matrix.docker_image }}
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      - name: Setup workspace
+        run: mkdir -p ${{ env.CLONE_PATH }}
+      - name: checkout
+        uses: actions/checkout@v2
+        with:
+          path: ${{ env.CLONE_PATH }}
+      - name: Build and test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: dynmsg dynmsg_demo dynmsg_msgs test_dynmsg
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: ""
+      - name: Upload logs as artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: build_and_test_logs_${{ matrix.ros_distribution }}
+          path: ${{ env.WORKSPACE_PATH }}/log

dynmsg/include/dynmsg/vector_utils.hpp

@@ -16,6 +16,7 @@
 #define DYNMSG__VECTOR_UTILS_HPP_
 
 #include <cstdint>
+#include <cstddef>
 
 namespace dynmsg
 {

dynmsg_demo/src/cli.cpp

@@ -23,13 +23,13 @@ using namespace std::string_literals;
 
 void print_help_and_exit(const char * program_name)
 {
-  std::cout << "Usage:\n"
-            << "  " << program_name << " echo <topic>\n"
-            << "  " << program_name << " publish <topic> <type> <message>\n"
-            << "  " << program_name << " call <service> <request>\n"
-            << "  " << program_name << " host <service> <response>\n"
-            << "  " << program_name << " discover\n"
-            << std::endl;
+  std::cout << "Usage:\n" <<
+    "  " << program_name << " echo <topic>\n" <<
+    "  " << program_name << " publish <topic> <type> <message>\n" <<
+    "  " << program_name << " call <service> <request>\n" <<
+    "  " << program_name << " host <service> <response>\n" <<
+    "  " << program_name << " discover\n" <<
+    std::endl;
   exit(1);
 }
 

dynmsg_demo/src/cli_tool.cpp

@@ -218,8 +218,8 @@ int print_topics(const rcl_node_t * node)
   }
   std::cout << "topics:" << std::endl;
   for (size_t i = 0; i < topics.names.size; i++) {
-    std::cout << "  " << topics.names.data[i]
-              << " [" << topics.types[i].data[0] << "]" << std::endl;
+    std::cout << "  " << topics.names.data[i] <<
+      " [" << topics.types[i].data[0] << "]" << std::endl;
   }
   ret = rcl_names_and_types_fini(&topics);
   if (ret != RCL_RET_OK) {
@@ -246,9 +246,9 @@ int print_services(const rcl_node_t * node)
   }
   std::cout << "services:" << std::endl;
   for (size_t i = 0; i < services.names.size; i++) {
-    std::cout << "  " << services.names.data[i]
-              << " [" << services.types[i].data[0] << "]"
-              << std::endl;
+    std::cout << "  " << services.names.data[i] <<
+      " [" << services.types[i].data[0] << "]" <<
+      std::endl;
   }
   ret = rcl_names_and_types_fini(&services);
   if (ret != RCL_RET_OK) {
@@ -275,9 +275,9 @@ int print_actions(const rcl_node_t * node)
   }
   std::cout << "actions:" << std::endl;
   for (size_t i = 0; i < actions.names.size; i++) {
-    std::cout << "  " << actions.names.data[i]
-              << " [" << actions.types[i].data[0] << "]"
-              << std::endl;
+    std::cout << "  " << actions.names.data[i] <<
+      " [" << actions.types[i].data[0] << "]" <<
+      std::endl;
   }
   ret = rcl_names_and_types_fini(&actions);
   if (ret != RCL_RET_OK) {

dynmsg_msgs/package.xml

@@ -5,9 +5,9 @@
   <version>1.0.0</version>
   <description>Test messages for dynamic message type loading</description>
   <maintainer email="[email protected]">Geoffrey Biggs</maintainer>
+  <license>Apache 2.0</license>
   <author email="[email protected]">Geoffrey Biggs</author>
   <author email="[email protected]">Koon Peng Teo</author>
-  <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>