8d5449483b
Generate the `.urdf` files in CI and upload them to the release page. The ROS 2 installation was referred to the following documentation. https://docs.ros.org/en/kilted/Installation/Ubuntu-Install-Debs.html We've modified it to run on push and pull_request for easier checking.
107 lines
3.3 KiB
YAML
107 lines
3.3 KiB
YAML
# Copyright 2025 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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name: Release
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on:
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- push
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- pull_request
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jobs:
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build:
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name: Build
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runs-on: ubuntu-latest
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strategy:
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matrix:
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id:
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- "rolling"
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- "kilted"
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- "jazzy"
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- "humble"
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steps:
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- uses: actions/checkout@v5
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- name: Build URDF files
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run: |
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docker container run \
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--rm \
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--volume ${PWD}:/source \
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osrf/ros:${{ matrix.id }}-desktop-full \
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bash -c '
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cd /source
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colcon build
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source install/setup.bash
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for file in $(find urdf -name "*.xacro"); do
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xacro "${file}" bimanual:=true > "${file%.*}_${{ matrix.id }}_bimanual.urdf"
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xacro "${file}" bimanual:=false > "${file%.*}_${{ matrix.id }}.urdf"
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done'
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- uses: actions/upload-artifact@v4
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with:
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name: urdf-${{ matrix.id }}
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path: urdf/**/*.urdf
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publish:
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name: Publish
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needs: build
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runs-on: ubuntu-latest
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environment: release
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permissions:
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contents: write
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discussions: write
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steps:
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- name: Set environments
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run: |
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if [ "${GITHUB_REF_TYPE}" = "tag" ]; then
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echo "VERSION=${GITHUB_REF_NAME}" >> ${GITHUB_ENV}
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else
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echo "VERSION=x.y.z" >> ${GITHUB_ENV}
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fi
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if [ "${GITHUB_EVENT_NAME}" = "pull_request" ]; then
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echo "REF=${GITHUB_SHA}" >> ${GITHUB_ENV}
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else
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echo "REF=${GITHUB_REF_NAME}" >> ${GITHUB_ENV}
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fi
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- uses: actions/checkout@v4
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- uses: actions/download-artifact@v5
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with:
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pattern: urdf-*
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path: artifacts
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merge-multiple: true
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- name: Create source archive
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run: |
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name="openarm-description-${VERSION}"
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git archive --format=tar ${REF} \
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--prefix "${name}/" \
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--output "${name}.tar"
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mkdir "${name}"
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mv artifacts "${name}/urdf"
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find "${name}/urdf" -type f | tar -rf "${name}.tar" -T -
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gzip "${name}.tar"
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sha256sum "${name}.tar.gz" > "${name}.tar.gz.sha256"
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sha512sum "${name}.tar.gz" > "${name}.tar.gz.sha512"
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- uses: actions/upload-artifact@v4
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with:
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name: source-archive
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path: openarm-description-*.tar.gz*
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- name: Create GitHub Release
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if: github.ref_type == 'tag'
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env:
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GH_TOKEN: ${{ github.token }}
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run: |
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gh release create ${GITHUB_REF_NAME} \
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--discussion-category Announcements \
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--generate-notes \
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--repo ${GITHUB_REPOSITORY} \
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--title "OpenArm Description ${VERSION}" \
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--verify-tag \
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openarm-description-${VERSION}.tar.gz*
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