build_natively_arm.yml

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: |
        ls -a ros2_caret_ws/
        ls -a ros2_caret_ws/install/
        source /opt/ros/humble/setup.bash
        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