Merge pull request #262 from k-okada/check_260

add test to check #260

closes #260

Author: k-okada

.github/workflows/config.yml

@@ -96,7 +96,9 @@ jobs:
           TEST_PKGS : ${{ matrix.TEST_PKGS }}
           EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
 
-  # ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  # ROS-O setup for v4hn https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  # ROS-O setup for techfak https://ros.packages.techfak.net/
+  # note that v4hn uses ROS_DISTRO=one and techfak uses ROS_DISTRO
   ros-o:
     runs-on: ubuntu-latest
 
@@ -105,7 +107,13 @@ jobs:
       matrix:
         include:
           - DISTRO: ubuntu:22.04
-            ROS_REPOSITORY_URL: https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository
+            ROS_ONE_VARIANT: techfak
+            ROS_REPOSITORY_URL: "deb [trusted=yes] https://ros.packages.techfak.net jammy-testing main"
+            ROSDEP_PACKAGE_MAPPING: "yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
+          - DISTRO: ubuntu:24.04
+            ROS_ONE_VARIANT: techfak
+            ROS_REPOSITORY_URL: "deb [trusted=yes] https://ros.packages.techfak.net noble-testing main"
+            ROSDEP_PACKAGE_MAPPING: "yaml https://ros.packages.techfak.net/ros-one.yaml ubuntu"
 
     container: ${{ matrix.DISTRO }}
 
@@ -119,21 +127,44 @@ jobs:
       - name: Setup ROS-O deb repository
         run: |
           set -x
-          apt update && apt install -qq -y ca-certificates
-          echo "deb [trusted=yes] ${{ matrix.ROS_REPOSITORY_URL }}/ ./" | tee /etc/apt/sources.list.d/ros-o-builder.list
+          apt update && apt install -qq -y ca-certificates git
+          echo ${{ matrix.ROS_REPOSITORY_URL }} | tee /etc/apt/sources.list.d/ros-o-builder.list
+          ##
+          # https://github.com/v4hn/ros-deb-builder-action/blob/b7c0ed93fde3a86b5b1027bf8f7145cad6067c90/prepare.sh#L27-L28
+          # Canonical dropped the Debian ROS packages from 24.04 for political reasons. Wow.
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" && "${{ matrix.DISTRO }}" == "ubuntu:24.04" ]]; then apt install -y software-properties-common retry && retry -d 50,10,30,300 -t 12 add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/ros; fi
+          ##
           apt update
-          apt install -qq -y python3-rosdep2
-          echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              apt install -qq -y python3-rosdep2
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak"  ]]; then
+              # Do not install python3-rosdep2, which is an outdated version of rosdep shipped via the Ubuntu repositories (instead of ROS)!
+              apt install -qq -y python3-rosdep
+              rosdep init
+          fi
+          echo ${{ matrix.ROSDEP_PACKAGE_MAPPING }} | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
+          if [[ "${{ matrix.DISTRO }}" == "ubuntu:24.04"  ]]; then
+              echo "yaml file://$GITHUB_WORKSPACE/.github/workflows/rosdep-24.04.yaml ubuntu" | tee /etc/ros/rosdep/sources.list.d/00-custom-rosdep.list
+          fi
           rosdep update
+        shell: bash
 
       - name: Setup catkin-tools
         run: |
           set -x
           # setup catkin tools
           apt install -qq -y python3-pip
-          pip3 install catkin-tools
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then
+              pip3 install catkin-tools==0.9.4
+              apt install -qq -y catkin
+          fi
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
+              apt install -qq -y ros-one-catkin python3-catkin-tools
+          fi
           # setup build tools
-          apt install -qq -y cmake build-essential catkin ros-one-rosbash
+          apt install -qq -y cmake build-essential ros-one-rosbash
+        shell: bash
 
       - name: Setup Workspace
         run: |
@@ -142,8 +173,17 @@ jobs:
           # setup workspace
           mkdir -p ~/ws/src
           cd ~/ws/src
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "techfak" ]]; then
+          # TODO: remove these lines and uncomment https://github.com/ubi-agni/ros-builder-action/blob/191fab06004ad5784c28cf2ba2b18f6d163a860d/ros-one.repos#L1089
+              git clone https://github.com/locusrobotics/catkin_virtualenv.git
+          fi
           ln -sf $GITHUB_WORKSPACE .
           rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+          # check all system packages are able to install, because ROS-O build deb files that needs all packages
+          PIP_BREAK_SYSTEM_PACKAGES=1 rosdep install -qq --simulate -y --from-path . --ignore-src -t exec -t buildtool_export -t buildtool -t build -t build_export | tee rosdep-install.sh
+          # catkin_tools is not available on v4hn/jammy
+          if [[ "${{ matrix.ROS_ONE_VARIANT }}" == "v4hn" ]]; then sed -i '/python3-catkin-tools/s/^/#/' rosdep-install.sh; fi
+          sed 's/apt-get install/apt-get -y install/;/install ros-one/s/^/#/;/pip3 install/s/^/#/' rosdep-install.sh | bash -xe
         shell: bash
 
       - name: Compile Packages
@@ -153,3 +193,28 @@ jobs:
           cd ~/ws/
           catkin build --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
         shell: bash
+
+      - name: Test Packages
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          cd ~/ws/
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+          catkin build --force-cmake --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=ON -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+          catkin test --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+           catkin_test_results --verbose --all
+        shell: bash
+
+      - name: Test spoteus, see https://github.com/jsk-ros-pkg/jsk_model_tools/pull/260
+        run: |
+          source /opt/ros/one/setup.bash
+          set -x
+          cd ~/ws/src
+          apt install -qq -y git curl ros-one-xacro
+          git clone https://github.com/k-okada/spot_ros-arm -b arm
+          curl -sLO https://raw.githubusercontent.com/k-okada/jsk_robot/refs/heads/spot_arm/jsk_spot_robot/spoteus/spot.yaml
+          catkin build  spot_description --no-status -sv ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+          source ~/ws/devel/setup.bash
+          rosrun xacro xacro $(rospack find spot_description)/urdf/spot.urdf.xacro -o /tmp/spot.urdf
+          rosrun euscollada collada2eus /tmp/spot.urdf ./spot.yaml /tmp/spot.l
+        shell: bash

.github/workflows/rosdep-24.04.yaml

@@ -0,0 +1,4 @@
+gazebo_ros:
+  debian: []
+  ubuntu: []
+

euscollada/CMakeLists.txt

@@ -8,7 +8,7 @@ execute_process(
   RESULT_VARIABLE rosversion_ge_indigo)
 
 # noetic collada_urdf could not find_packag-ed due to https://github.com/ros/collada_urdf/issues/43
-if("$ENV{ROS_DISTRO}" STREQUAL "noetic")
+if("$ENV{ROS_DISTRO}" STREQUAL "noetic" OR "$ENV{ROS_DISTRO}" STREQUAL "one")
   set(collada_urdf_CONFIG_INCLUDED TRUE)
   set(libraries "collada_urdf")
   foreach(library ${libraries})

eusurdf/CMakeLists.txt

@@ -6,9 +6,14 @@ find_package(catkin REQUIRED)
 catkin_package()
 
 include(cmake/eusurdf.cmake)
+find_package(catkin QUIET COMPONENTS gazebo_ros)
+if(gazebo_ros_FOUND)
 convert_eusmodel_to_urdf()
 convert_eusscene_to_gazebo_world()
 convert_eusscene_to_urdf_xacro()
+else()
+message(WARNING "gazebo_ros package is not found, skip converting eusmodel to urdf")
+endif()
 
 set(INSTALL_DIRS models textured_models worlds launch euslisp)
 

urdf_mesh_converter/requirements.in

@@ -1,6 +1,10 @@
 Pillow==8.4.0
 networkx==2.2.0
 numpy==1.22.1
-pycollada!=0.7
+pycollada==0.8
 scipy==1.10.1
 trimesh==4.1.3
+decorator==5.1.1          # via networkx
+python-dateutil==2.9.0.post0  # via pycollada
+scipy==1.10.1             # via -r requirements.in
+six==1.17.0               # via python-dateutil