43 lines
1.5 KiB
YAML
Executable File
43 lines
1.5 KiB
YAML
Executable File
name: Build in ubuntu:20.04 with ROS2 Foxy
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on:
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push:
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branches: [ "master" ]
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pull_request:
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branches: [ "master" ]
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jobs:
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build:
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runs-on: ubuntu-latest # Use latest runner to host the container
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container:
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image: althack/ros2:foxy-full
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options: --privileged # Needed for some build tools
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steps:
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- uses: actions/checkout@v4
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- name: Install dependencies
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run: |
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export DEBIAN_FRONTEND=noninteractive
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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apt-get update
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apt install -y ros-foxy-rmw-cyclonedds-cpp ros-foxy-rosidl-generator-dds-idl
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- name: ROS2 build
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run: |
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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cd cyclonedds_ws
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git clone https://github.com/ros2/rmw_cyclonedds -b foxy
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git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
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cd ..
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export LD_LIBRARY_PATH=/opt/ros/foxy/lib
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colcon build --packages-select cyclonedds
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. /opt/ros/foxy/setup.sh
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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cd cyclonedds_ws
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colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-select unitree_go unitree_hg unitree_api
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. ./install/setup.sh
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cd ..
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colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-select unitree_ros2_example
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. ./install/setup.sh
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echo "Build completed successfully." |