Add initial support for calling ROS2 services from Rust nodes #2520
Workflow file for this run
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| name: CI | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| workflow_dispatch: | |
| env: | |
| RUST_LOG: INFO | |
| jobs: | |
| test: | |
| name: "Test" | |
| strategy: | |
| matrix: | |
| platform: [ubuntu-latest, macos-latest, windows-latest] | |
| fail-fast: false | |
| runs-on: ${{ matrix.platform }} | |
| timeout-minutes: 60 | |
| steps: | |
| - name: Print available space (Windows only) | |
| run: Get-PSDrive | |
| if: runner.os == 'Windows' | |
| - name: Override cargo target dir (Windows only) | |
| run: echo "CARGO_TARGET_DIR=C:\cargo-target" >> "$GITHUB_ENV" | |
| shell: bash | |
| if: runner.os == 'Windows' | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - name: Free Disk Space (Ubuntu) | |
| uses: jlumbroso/free-disk-space@main | |
| if: runner.os == 'Linux' | |
| with: | |
| # this might remove tools that are actually needed, | |
| # if set to "true" but frees about 6 GB | |
| tool-cache: false | |
| # all of these default to true, but feel free to set to | |
| # "false" if necessary for your workflow | |
| android: true | |
| dotnet: true | |
| haskell: true | |
| large-packages: false | |
| docker-images: true | |
| swap-storage: false | |
| - name: Free disk Space (Windows) | |
| if: runner.os == 'Windows' | |
| run: | | |
| docker system prune --all -f | |
| Remove-Item "C:\Android" -Force -Recurse | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| cache-directories: ${{ env.CARGO_TARGET_DIR }} | |
| - name: "Check" | |
| run: cargo check --all | |
| - name: "Build (Without Python node as it is build with maturin)" | |
| run: cargo build --all --exclude dora-node-api-python | |
| - name: "Test" | |
| run: cargo test --all --exclude dora-ros2-bridge-python | |
| # Run examples as separate job because otherwise we will exhaust the disk | |
| # space of the GitHub action runners. | |
| examples: | |
| name: "Examples" | |
| strategy: | |
| matrix: | |
| platform: [ubuntu-latest, macos-latest, windows-latest] | |
| fail-fast: false | |
| runs-on: ${{ matrix.platform }} | |
| timeout-minutes: 60 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - name: Free Disk Space (Ubuntu) | |
| uses: jlumbroso/free-disk-space@main | |
| if: runner.os == 'Linux' | |
| with: | |
| # this might remove tools that are actually needed, | |
| # if set to "true" but frees about 6 GB | |
| tool-cache: false | |
| # all of these default to true, but feel free to set to | |
| # "false" if necessary for your workflow | |
| android: true | |
| dotnet: true | |
| haskell: true | |
| large-packages: false | |
| docker-images: true | |
| swap-storage: false | |
| - name: Free disk Space (Windows) | |
| if: runner.os == 'Windows' | |
| run: | | |
| docker system prune --all -f | |
| Remove-Item "C:\Android" -Force -Recurse | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| # general examples | |
| - name: "Build examples" | |
| timeout-minutes: 30 | |
| run: cargo build --examples | |
| - name: "Rust Dataflow example" | |
| timeout-minutes: 30 | |
| run: cargo run --example rust-dataflow | |
| - name: "Multiple Daemons example" | |
| timeout-minutes: 30 | |
| run: cargo run --example multiple-daemons | |
| - name: "C Dataflow example" | |
| timeout-minutes: 15 | |
| run: cargo run --example c-dataflow | |
| - name: "C++ Dataflow example" | |
| timeout-minutes: 15 | |
| run: cargo run --example cxx-dataflow | |
| - name: "Cmake example" | |
| if: runner.os == 'Linux' | |
| timeout-minutes: 30 | |
| run: cargo run --example cmake-dataflow | |
| # python examples | |
| - uses: actions/setup-python@v2 | |
| if: runner.os != 'Windows' | |
| with: | |
| python-version: "3.8" | |
| - uses: actions/setup-python@v2 | |
| if: runner.os == 'Windows' | |
| with: | |
| python-version: "3.10" | |
| - name: "Python Dataflow example" | |
| run: cargo run --example python-dataflow | |
| - name: "Python Operator Dataflow example" | |
| run: cargo run --example python-operator-dataflow | |
| # ROS2 bridge examples | |
| ros2-bridge-examples: | |
| name: "ROS2 Bridge Examples" | |
| runs-on: ubuntu-latest | |
| timeout-minutes: 45 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| - uses: ros-tooling/[email protected] | |
| with: | |
| required-ros-distributions: humble | |
| - run: 'source /opt/ros/humble/setup.bash && echo AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH} >> "$GITHUB_ENV"' | |
| - name: "Install pyarrow for testing" | |
| run: pip install numpy pyarrow | |
| - name: "Test" | |
| run: cargo test -p dora-ros2-bridge-python | |
| - name: "Rust ROS2 Bridge example" | |
| timeout-minutes: 30 | |
| env: | |
| QT_QPA_PLATFORM: offscreen | |
| run: | | |
| source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node & | |
| source /opt/ros/humble/setup.bash && ros2 run examples_rclcpp_minimal_service service_main & | |
| cargo run --example rust-ros2-dataflow --features="ros2-examples" | |
| - uses: actions/setup-python@v2 | |
| if: runner.os != 'Windows' | |
| with: | |
| python-version: "3.8" | |
| - uses: actions/setup-python@v2 | |
| if: runner.os == 'Windows' | |
| with: | |
| python-version: "3.10" | |
| - name: "python-ros2-dataflow" | |
| timeout-minutes: 30 | |
| env: | |
| QT_QPA_PLATFORM: offscreen | |
| run: | | |
| # Reset only the turtlesim instance as it is not destroyed at the end of the previous job | |
| source /opt/ros/humble/setup.bash && ros2 service call /reset std_srvs/srv/Empty & | |
| cargo run --example python-ros2-dataflow --features="ros2-examples" | |
| - name: "c++-ros2-dataflow" | |
| timeout-minutes: 30 | |
| env: | |
| QT_QPA_PLATFORM: offscreen | |
| run: | | |
| # Reset only the turtlesim instance as it is not destroyed at the end of the previous job | |
| source /opt/ros/humble/setup.bash && ros2 service call /reset std_srvs/srv/Empty & | |
| cargo run --example cxx-ros2-dataflow --features="ros2-examples" | |
| bench: | |
| name: "Bench" | |
| strategy: | |
| matrix: | |
| platform: [ubuntu-latest, macos-latest, windows-latest] | |
| fail-fast: false | |
| runs-on: ${{ matrix.platform }} | |
| timeout-minutes: 60 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| - name: "Benchmark example" | |
| timeout-minutes: 30 | |
| run: cargo run --example benchmark --release | |
| CLI: | |
| name: "CLI Test" | |
| strategy: | |
| matrix: | |
| platform: [ubuntu-latest, macos-latest, windows-latest] | |
| fail-fast: false | |
| runs-on: ${{ matrix.platform }} | |
| timeout-minutes: 60 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| # CLI tests | |
| - name: "Build cli and binaries" | |
| timeout-minutes: 45 | |
| # fail-fast by using bash shell explictly | |
| shell: bash | |
| run: | | |
| cargo install --path binaries/cli --locked | |
| - name: "Test CLI" | |
| timeout-minutes: 30 | |
| # fail-fast by using bash shell explictly | |
| shell: bash | |
| run: | | |
| dora up | |
| dora list | |
| # Test Rust template Project | |
| dora new test_rust_project --internal-create-with-path-dependencies | |
| cd test_rust_project | |
| cargo build --all | |
| dora start dataflow.yml --name ci-rust-test | |
| sleep 10 | |
| dora stop --name ci-rust-test | |
| cd .. | |
| # Test Python template Project | |
| pip3 install maturin | |
| maturin build -m apis/python/node/Cargo.toml | |
| pip3 install target/wheels/* | |
| dora new test_python_project --lang python --internal-create-with-path-dependencies | |
| cd test_python_project | |
| dora start dataflow.yml --name ci-python-test | |
| sleep 10 | |
| dora stop --name ci-python-test | |
| cd .. | |
| dora destroy | |
| clippy: | |
| name: "Clippy" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - name: "Clippy" | |
| run: cargo clippy --all | |
| - name: "Clippy (tracing feature)" | |
| run: cargo clippy --all --features tracing | |
| if: false # only the dora-runtime has this feature, but it is currently commented out | |
| - name: "Clippy (metrics feature)" | |
| run: cargo clippy --all --features metrics | |
| if: false # only the dora-runtime has this feature, but it is currently commented out | |
| rustfmt: | |
| name: "Formatting" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - name: "rustfmt" | |
| run: cargo fmt --all -- --check | |
| check-license: | |
| name: "License Checks" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| - run: cargo install cargo-lichking | |
| - name: "Check dependency licenses" | |
| run: cargo lichking check |