Create build_aarch64.yml

.github/workflows/build_aarch64.yml

@@ -0,0 +1,60 @@
+name: Build ROS2 package on aarch64 for RPi
+
+on:
+  push:
+    branches:
+      - main  # Trigger the workflow on push events to the main branch.
+
+jobs:
+  aarch64_job:
+    runs-on: ubuntu-22.04
+    name: Build on ubuntu-22.04 aarch64
+    steps:
+      - uses: uraimo/run-on-arch-action@v2
+        name: Run commands
+        id: runcmd
+        with:
+          arch: aarch64
+          distro: ubuntu22.04
+          githubToken: ${{ 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 }}
+
+          setup: |
+            mkdir -p "${PWD}/artifacts"
+
+          dockerRunArgs: |
+            --volume "${PWD}/artifacts:/artifacts"
+
+          shell: /bin/sh
+
+          install: |
+            apt-get update
+            apt-get install -y curl gnupg lsb-release git
+            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
+
+          # Set an output parameter `uname` for use in subsequent steps
+          run: |
+            mkdir -p ros_ws/src
+            cd ros_ws/src
+            git clone https://[email protected]/RaduLucianR/ros2-latency-analysis.git
+            cd
+            sudo rosdep init
+            rosdep update
+            rosdep install --from-paths ros_ws/src --ignore-src -r -y --rosdistro humble
+            source /opt/ros/humble/setup.bash
+            cd ros_ws
+            colcon build --symlink-install
+            cd
+            cp -r ros_ws "/artifacts/ros_ws"
+            echo "Produced artifact at /artifacts/ros_ws"
+
+      - name: Archive the build artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: ros2-workspace-artifact
+          path: ${PWD}/artifacts/ros_ws
+
+
+