config.yml

on:
  push:
    branches:
      - master
  pull_request:

env:
  DISPLAY: ':0.0'

jobs:
  ros:
    runs-on: ubuntu-latest
#    continue-on-error: ${{ matrix.experimental }}
    strategy:
      fail-fast: false
      matrix:
        include:
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04
            USE_DEB: true
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04
            USE_DEB: false
            NOT_TEST_INSTALL : true
            INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_planning"
            TEST_PKGS : "task_compiler"
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04
            USE_DEB: false
            NOT_TEST_INSTALL : true
            INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_pr2eus"
            TEST_PKGS : "pr2eus pr2eus_moveit"
            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y; sudo apt dist-upgrade -y; mkdir -p ~/.gazebo/; git clone --depth=1 https://github.com/osrf/gazebo_models.git ~/.gazebo/models"
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04
            USE_DEB: false
            NOT_TEST_INSTALL : false
            BEFORE_SCRIPT: "wget https://raw.githubusercontent.com/tork-a/jskeus-release/master/patches/CMakeLists.txt -O jskeus/CMakeLists.txt"
          - ROS_DISTRO: indigo
            CONTAINER: jskrobotics/ros-ubuntu:14.04
            USE_DEB: source
            NOT_TEST_INSTALL : false
          - ROS_DISTRO: kinetic
            CONTAINER: ubuntu:16.04
            USE_DEB: true
          - ROS_DISTRO: kinetic
            CONTAINER: ubuntu:16.04
            USE_DEB: false
            NOT_TEST_INSTALL : true
            INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_planning"
            TEST_PKGS : "task_compiler"
          - ROS_DISTRO: kinetic
            CONTAINER: ubuntu:16.04
            USE_DEB: false
            NOT_TEST_INSTALL : true
            INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_pr2eus"
            TEST_PKGS : "pr2eus pr2eus_moveit"
            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu xenial main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y"
          - ROS_DISTRO: kinetic
            CONTAINER: ubuntu:16.04
            USE_DEB: false
            NOT_TEST_INSTALL : true
          - ROS_DISTRO: kinetic
            CONTAINER: ubuntu:16.04
            USE_DEB: source
            NOT_TEST_INSTALL : true
          - ROS_DISTRO: melodic
            CONTAINER: ubuntu:18.04
            USE_DEB: true
          - ROS_DISTRO: melodic
            CONTAINER: ubuntu:18.04
            USE_DEB: false
            NOT_TEST_INSTALL : true
          - ROS_DISTRO: melodic
            CONTAINER: ubuntu:18.04
            USE_DEB: source
            NOT_TEST_INSTALL : true
          - ROS_DISTRO: noetic
            CONTAINER: ubuntu:20.04
            USE_DEB: true
          # - ROS_DISTRO: noetic
          #   CONTAINER: ubuntu:20.04
          #   USE_DEB: false
          #   NOT_TEST_INSTALL : true
          #   INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_planning"
          #   TEST_PKGS : "task_compiler"
          #   experimental: true
          # - ROS_DISTRO: noetic
          #   CONTAINER: ubuntu:20.04
          #   USE_DEB: false
          #   NOT_TEST_INSTALL : true
          #   INSTALL_SRC : "http://github.com/jsk-ros-pkg/jsk_pr2eus"
          #   TEST_PKGS : "pr2eus pr2eus_moveit"
          #   experimental: true
          - ROS_DISTRO: noetic
            CONTAINER: ubuntu:20.04
            USE_DEB: false
            NOT_TEST_INSTALL : true
          - ROS_DISTRO: noetic
            CONTAINER: ubuntu:20.04
            USE_DEB: source
            NOT_TEST_INSTALL : true


    container: ${{ matrix.CONTAINER }}
    steps:
      - name: Install latest git ( use sudo for ros-ubuntu )
        run: |
          (apt-get update && apt-get install -y sudo) || echo "OK"
          sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git

      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
        run: |
          set -x
          export USER=$(whoami)
          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
             git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
             sudo mkdir -p /__w/
             sudo chmod 777 -R /__w/
             sudo chown -R $USER $HOME
             # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
             # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
             # ls -al /home/runner/work/_temp/_github_workflow/
          else
             git config --global --add safe.directory $GITHUB_WORKSPACE
          fi

      - name: Checkout
        uses: actions/checkout@v3.0.2

      - name: Start X server
        if: ${{ matrix.ROS_DISTRO == 'kinetic' && matrix.TEST_PKGS == 'pr2eus pr2eus_moveit' }}

        run: |
          if [[ "${{ matrix.CONTAINER }}" =~ "jskrobotics/ros-ubuntu:14.04" ]]; then exit 0; fi
          echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections || echo "failing on ros-ubuntu is OK" # set non interactive tzdata https://stackoverflow.com/questions/8671308/non-interactive-method-for-dpkg-reconfigure-tzdata
          sudo apt-get -y -qq install mesa-utils x11-xserver-utils xserver-xorg-video-dummy wget
          export DISPLAY=:0
          wget https://raw.githubusercontent.com/jsk-ros-pkg/jsk_travis/master/dummy.xorg.conf -O /tmp/dummy.xorg.conf
          sudo Xorg -noreset +extension GLX +extension RANDR +extension RENDER -logfile /tmp/xorg.log -config /tmp/dummy.xorg.conf $DISPLAY &
          sleep 3 # wait x server up
          export QT_X11_NO_MITSHM=1 # http://wiki.ros.org/docker/Tutorials/GUI
          xhost +local:root
        shell: bash

      - name: Fix geneus source tree
        run: |
          sed -i "s@http://github.com/jsk-ros-pkg/geneus@http://github.com/tork-a/geneus-release.git\n    version:\ release/indigo/geneus@" .travis.rosinstall
          cat .travis.rosinstall
          sed -i "s@jsk-ros-pkg/geneus@tork-a/geneus-release@" setup_upstream.sh
          sed -i "/^wstool update/a (cd \$WORKSPACE/src/geneus; git checkout release/indigo/geneus)" setup_upstream.sh
          cat setup_upstream.sh
        if: ${{ matrix.ROS_DISTRO }} == "indigo" && ${{ matrix.USE_DEB }} == "false"

      - name: Install src
        run: |
          export INSTALL_SRC="${{ matrix.INSTALL_SRC }}"
          sudo apt-get install -y -qq python-yaml
          sudo apt-get install -y -qq python-is-python3 python3-yaml || echo "OK" # for 20.04
          rm .travis.rosinstall
          for src in $INSTALL_SRC; do name=`basename $src`; python -c "import yaml;print(yaml.dump([{'git':{'uri':'$src','local-name':'$name'}}], default_flow_style=False))" >> .travis.rosinstall; done;
          cat .travis.rosinstall
        if: "matrix.INSTALL_SRC != ''"

      - name: Run jsk_travis
        uses: jsk-ros-pkg/jsk_travis@master
        with:
          ROS_PARALLEL_JOBS : "-j1"
          CATKIN_PARALLEL_JOBS : "-p2"
          ROS_PARALLEL_TEST_JOBS : "-j1"
          CATKIN_PARALLEL_TEST_JOBS : "-p2"
          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
          USE_DEB :  ${{ matrix.USE_DEB }}
          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
          TEST_PKGS : ${{ matrix.TEST_PKGS }}
          BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}