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| name: Build ROS2 Packages for Raspberry Pi 3 natively on ARM | |
| on: | |
| push: | |
| branches: | |
| - main # Trigger the workflow on push events to the main branch. | |
| jobs: | |
| build: | |
| runs-on: buildjet-4vcpu-ubuntu-2204-arm #run on ARM with Ubuntu 22 | |
| steps: | |
| - name: Setup Workspace | |
| run: | | |
| mkdir -p ros_ws/src # Create a workspace and src directory | |
| - name: Check out repository | |
| uses: actions/checkout@v4 | |
| with: | |
| path: ros_ws/src # Checkout the repository into the src directory | |
| - name: Set up ROS environment | |
| run: | | |
| sudo apt update | |
| sudo apt install -y curl gnupg lsb-release | |
| sudo curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | |
| echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | |
| sudo apt update | |
| sudo apt install -y python3-colcon-common-extensions python3-rosdep python3-vcstool | |
| - name: Initialize rosdep | |
| run: | | |
| sudo rosdep init | |
| rosdep update | |
| - name: Install dependencies | |
| run: | | |
| rosdep install --from-paths ros_ws/src --ignore-src -r -y --rosdistro humble | |
| # Replace 'humble' with your ROS 2 distro if different. | |
| - name: Install VCS | |
| run: | | |
| sudo apt install python3-vcstool | |
| - name: Download CARET | |
| run: | | |
| git clone https://github.com/tier4/caret.git ros2_caret_ws | |
| - name: Execute setup_caret | |
| run: | | |
| cd ros2_caret_ws | |
| mkdir src | |
| vcs import src < caret.repos | |
| yes | ./setup_caret.sh --no-interactive | |
| - name: Build CARET | |
| run: | | |
| cd ros2_caret_ws | |
| source /opt/ros/humble/setup.bash | |
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| - name: Check CARET | |
| run: | | |
| source ~/ros2_caret_ws/install/local_setup.bash | |
| ros2 run tracetools status # return Tracing enabled | |
| - name: Build the ROS2 workspace with CARET | |
| run: | | |
| cd ros_ws | |
| source /opt/ros/humble/setup.bash | |
| source ~/ros2_caret_ws/install/local_setup.bash | |
| colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF | |
| ros2 caret check_caret_rclcpp . | |
| - name: Archive artifacts | |
| run: | | |
| tar -czvf arti.tar.gz ros_ws ros2_caret_ws | |
| - name: Archive the build artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ros2-workspace-artifact | |
| path: arti.tar.gz |