test.yml

name: "Test action-ros-ci"
on:
  pull_request:
  push:
    branches:
      - master
      - "releases/*"
  schedule:
    # Run the CI automatically twice per day to look for flakyness.
    - cron: "0 */12 * * *"

defaults:
  run:
    shell: bash

env:
  CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

jobs:
  pre_condition:
    name: "Don't run scheduled jobs on forks"
    runs-on: ubuntu-latest
    if: ${{ (github.event_name != 'schedule') || (github.event_name == 'schedule' && github.repository == 'ros-tooling/action-ros-ci') }}
    steps:
      - run: 'true'

  test_ros:
    name: "Test ROS package"
    runs-on: ubuntu-latest
    needs: pre_condition
    strategy:
      fail-fast: false
      matrix:
        ros_distribution: # ROS 1 tests only run on Ubuntu
          - noetic

        # Define the Docker image(s) associated with each ROS distribution.
        # The include syntax allows additional variables to be defined, like
        # docker_image in this case. See documentation:
        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
        #
        # Platforms are defined in REP 3: https://ros.org/reps/rep-0003.html
        include:
          # Noetic Ninjemys (May 2020 - May 2025)
          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-noetic-ros-base-latest
            ros_distribution: noetic
    container:
      image: ${{ matrix.docker_image }}
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.2
        with:
          node-version: "16.x"
      - run: .github/workflows/build-and-test.sh
      - uses: ./
        id: action-ros-ci
        with:
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/ros_tutorials.repos"
          package-name: roscpp_tutorials
          target-ros1-distro: ${{ matrix.ros_distribution }}
      - run: test -d "${{ steps.action-ros-ci.outputs.ros-workspace-directory-name }}/install/roscpp_tutorials"
        name: "Check that roscpp_tutorials install directory is present"

  test_ros2:
    name: "Test ROS 2 packages in repository"
    runs-on: ${{ matrix.os }}
    needs: pre_condition
    strategy:
      fail-fast: false
      matrix:
        os: [macOS-latest, windows-2019]
        ros_distribution: [humble, iron, jazzy]
    env:
      INSTALL_TYPE: ${{ matrix.os == 'windows-2019' && 'merged' || 'default' }}
      INSTALL_PATH: ${{ matrix.os == 'windows-2019' && 'install/share' || 'install' }}
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.2
        with:
          node-version: "16.x"
      - run: .github/workflows/build-and-test.sh
      - uses: ros-tooling/setup-ros@master
        with:
          required-ros-distributions: ${{ matrix.ros_distribution }}
      - uses: ./
        id: test_all_packages_in_repo
        name: "Test all packages in single repo, default options"
        with:
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test_cpp_package.repos"
      - name: "Check that osrf_testing_tools_cpp install directory is present in ${{ env.INSTALL_TYPE }} install space"
        run: test -d "${{ steps.test_all_packages_in_repo.outputs.ros-workspace-directory-name }}/${{ env.INSTALL_PATH }}/osrf_testing_tools_cpp"
      - name: "Check that test_osrf_testing_tools_cpp install directory is present in ${{ env.INSTALL_TYPE }} install space"
        run: test -d "${{ steps.test_all_packages_in_repo.outputs.ros-workspace-directory-name }}/${{ env.INSTALL_PATH }}/test_osrf_testing_tools_cpp"

  test_ros2_humble_package_with_dependencies:
    name: "Test ROS 2 humble package with ROS dependencies"
    runs-on: ubuntu-22.04
    needs: pre_condition
    steps:
      - uses: actions/checkout@v4
      - uses: ros-tooling/setup-ros@master
        with:
          required-ros-distributions: humble
      - uses: ./
        with:
          package-name: rmw
          target-ros2-distro: humble
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test_cpp_with_dependency.repos"

  test_ros2_humble_rosdep_skip_keys:
    name: "Test with rosdep-skip-keys option"
    runs-on: ubuntu-22.04
    needs: pre_condition
    steps:
      - uses: actions/checkout@v4
      - uses: ros-tooling/setup-ros@master
        with:
          required-ros-distributions: humble
      # Skip installing test_depend dependency and verifies it isn't installed.
      - uses: ./
        with:
          package-name: rmw
          target-ros2-distro: humble
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test_cpp_with_dependency.repos"
          extra-cmake-args: -DBUILD_TESTING=Off
          skip-tests: true
          rosdep-skip-keys: osrf_testing_tools_cpp
      - name: Install dpkg
        run: sudo apt -y install dpkg
      - name: "Verify dependencies were skipped"
        run: |
          [[ $(dpkg -s ros-humble-osrf-testing-tools-cpp) -eq 0 ]]
      # Install dependencies as usual and verifies it is now installed.
      - uses: ./
        with:
          package-name: rmw
          target-ros2-distro: humble
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test_cpp_with_dependency.repos"
      - name: "Verify dependencies weren't skipped"
        run: |
          dpkg -s ros-humble-osrf-testing-tools-cpp

  test_ros2_iron_skip_rosdep_install:
    name: Test rosdep check/skip install options
    runs-on: ubuntu-22.04
    needs: pre_condition
    container:
      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
    steps:
      - uses: actions/checkout@v4
      - uses: ./
        with:
          target-ros2-distro: iron
          package-name: ament_copyright
          vcs-repo-file-url: "https://raw.githubusercontent.com/ros2/ros2/release-iron-20240209/ros2.repos"
          skip-rosdep-install: true
          rosdep-check: true

  test_private_repo:
    name: "Test with private repos"
    runs-on: ubuntu-22.04
    needs: pre_condition
    # We don't have access to the secret token for the test repo on a fork
    if: ${{ !github.event.repository.fork && !github.event.pull_request.head.repo.fork }}
    steps:
      - uses: actions/checkout@v4
      - uses: ros-tooling/setup-ros@master
        with:
          required-ros-distributions: humble
      - uses: ./
        with:
          import-token: ${{ secrets.TOKEN_PRIVATE_REPO_TEST }}
          package-name: simple_package
          target-ros2-distro: humble
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test_private_repo.repos"

  test_ros2_docker:
    name: "ROS 2 Docker"
    runs-on: ubuntu-latest
    needs: pre_condition
    strategy:
      fail-fast: false
      matrix:
        ros_distribution:
          - humble
          - iron
          - jazzy
          - rolling
        # Define the Docker image(s) associated with each ROS distribution.
        # The include syntax allows additional variables to be defined, like
        # docker_image in this case. See documentation:
        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
        #
        # Platforms are defined in REP 2000: https://ros.org/reps/rep-2000.html
        include:
          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
            ros_distribution: humble

          # Iron Irwini (May 2023 - November 2024)
          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
            ros_distribution: iron

          # Jazzy Jalisco (May 2024 - May 2029)
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
            ros_distribution: jazzy

          # Rolling Ridley (see REP 2002: https://www.ros.org/reps/rep-2002.html)
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
            ros_distribution: rolling
    container:
      image: ${{ matrix.docker_image }}
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.2
        with:
          node-version: "16.x"
      - run: .github/workflows/build-and-test.sh
      - uses: ./
        name: "Test rosdep installs from correct distro"
        with:
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: .github/workflows/repo_file_for_test_rosdep_distro.repos
          # test_msgs depends on test_interface_files, which should be installed by rosdep
          # If the dependencies are installed for the wrong distribution, then the build should fail
          package-name: test_msgs
      # Verify that rosdep installed the required Debian package
      - run: dpkg -s ros-${{ matrix.ros_distribution }}-test-interface-files

      - uses: ./
        id: test_all_packages_in_repo
        name: "Test all packages in repo, default options"
        with:
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test_cpp_package.repos"
      - run: test -d "${{ steps.test_all_packages_in_repo.outputs.ros-workspace-directory-name }}/install/osrf_testing_tools_cpp"
      - run: test -d "${{ steps.test_all_packages_in_repo.outputs.ros-workspace-directory-name }}/install/test_osrf_testing_tools_cpp"

  test_ros2_from_source:
    name: "ROS 2 from source"
    runs-on: ${{ startsWith(matrix.os, 'ubuntu') && 'ubuntu-latest' || matrix.os }}
    needs: pre_condition
    container:
      image: ${{ startsWith(matrix.os, 'ubuntu') && matrix.os || '' }}
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu:22.04
            ros_distribution: humble
          - os: ubuntu:22.04
            ros_distribution: iron
          - os: ubuntu:24.04
            ros_distribution: jazzy
          - os: ubuntu:24.04
            ros_distribution: rolling
          - os: windows-2019
            ros_distribution: humble
          - os: windows-2019
            ros_distribution: iron
          - os: windows-2019
            ros_distribution: jazzy
          - os: windows-2019
            ros_distribution: rolling
          - os: macOS-latest
            ros_distribution: humble
          - os: macOS-latest
            ros_distribution: iron
          - os: macOS-latest
            ros_distribution: jazzy
          - os: macOS-latest
            ros_distribution: rolling
    env:
      DISTRO_REPOS_URL: "https://raw.githubusercontent.com/ros2/ros2/${{ matrix.ros_distribution }}/ros2.repos"
      INSTALL_TYPE: ${{ matrix.os == 'windows-2019' && 'merged' || 'default' }}
      INSTALL_PATH: ${{ matrix.os == 'windows-2019' && 'install/share' || 'install' }}
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.2
        with:
          node-version: "16.x"
      - run: .github/workflows/build-and-test.sh
      - uses: ros-tooling/setup-ros@master
      - uses: ./
        id: test_single_package
        name: "Test single package, default options"
        with:
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ env.DISTRO_REPOS_URL }}
      - name: "Check that ament_copyright install directory is present in ${{ env.INSTALL_TYPE }} install space"
        run: test -d "${{ steps.test_single_package.outputs.ros-workspace-directory-name }}/${{ env.INSTALL_PATH }}/ament_copyright"
      - uses: ./
        id: test_multiple_packages
        name: "Test multiple package, default options"
        with:
          package-name: ament_copyright ament_lint
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ env.DISTRO_REPOS_URL }}
      - name: "Check that ament_copyright install directory is present in ${{ env.INSTALL_TYPE }} install space"
        run: test -d "${{ steps.test_multiple_packages.outputs.ros-workspace-directory-name }}/${{ env.INSTALL_PATH }}/ament_copyright"
      - name: "Check that ament_lint install directory is present in ${{ env.INSTALL_TYPE }} install space"
        run: test -d "${{ steps.test_multiple_packages.outputs.ros-workspace-directory-name }}/${{ env.INSTALL_PATH }}/ament_lint"
      - uses: ./
        id: test_connext_dependency
        name: "Test single package with Connext dependency, default options"
        if: startsWith(matrix.os, 'ubuntu-')
        with:
          package-name: rmw_implementation
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ env.DISTRO_REPOS_URL }}
      - run: test -d "${{ steps.test_connext_dependency.outputs.ros-workspace-directory-name }}/install/rmw_implementation"
        name: "Check that rmw_implementation install directory is present"
        if: startsWith(matrix.os, 'ubuntu-')

      - uses: ./
        id: test_mixin
        name: "Test single package, with custom mixin"
        with:
          colcon-defaults: |
            {
              "build": {
                "mixin": ["asan-gcc"]
              }
            }
          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ env.DISTRO_REPOS_URL }}
      - name: "Check that ament_copyright install directory is present in ${{ env.INSTALL_TYPE }} install space"
        run: test -d "${{ steps.test_mixin.outputs.ros-workspace-directory-name }}/${{ env.INSTALL_PATH }}/ament_copyright"
      - uses: ./
        id: test_repo
        name: "Test single package, with custom repository file"
        with:
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test${{ matrix.os == 'ubuntu:24.04' && '_noble' || '' }}.repos"
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
      - name: "Check that ament_copyright install directory is present in ${{ env.INSTALL_TYPE }} install space"
        run: test -d "${{ steps.test_repo.outputs.ros-workspace-directory-name }}/${{ env.INSTALL_PATH }}/ament_copyright"
      - uses: ./
        id: test_colcon_defaults
        name: "Test single package, with colcon defaults"
        with:
          colcon-defaults: |
            {
              "build": {
                "build-base": "build-custom"
              }
            }
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ env.DISTRO_REPOS_URL }}
      - name: "Check that ament_copyright install directory is present in ${{ env.INSTALL_TYPE }} install space"
        run: test -d "${{ steps.test_colcon_defaults.outputs.ros-workspace-directory-name }}/${{ env.INSTALL_PATH }}/ament_copyright"
      - run: test -d "${{ steps.test_colcon_defaults.outputs.ros-workspace-directory-name }}/build-custom"

      # The second repo file is ignored, but will get vcs-import'ed anyway.
      # This test case just run basic testing on the action logic, making
      # sure the for-loop is implemented correctly.
      - uses: ./
        id: test_multiple_repos
        name: "Test single package, with multiple custom repository files"
        with:
          vcs-repo-file-url: |
            .github/workflows/repo_file_for_test${{ matrix.os == 'ubuntu:24.04' && '_noble' || '' }}.repos
            .github/workflows/repo_file_for_test_cpp_package.repos
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
      - name: "Check that ament_copyright install directory is present in ${{ env.INSTALL_TYPE }} install space"
        run: test -d "${{ steps.test_multiple_repos.outputs.ros-workspace-directory-name }}/${{ env.INSTALL_PATH }}/ament_copyright"
      - run: test -d "${{ steps.test_multiple_repos.outputs.ros-workspace-directory-name }}/src/ament_lint"
      - run: test -d "${{ steps.test_multiple_repos.outputs.ros-workspace-directory-name }}/src/osrf_testing_tools_cpp"

      - uses: ./
        id: test_coverage
        name: "Test single package, with coverage enabled (Linux only)"
        with:
          colcon-defaults: |
            {
              "build": {
                "mixin": ["coverage-gcc"]
              }
            }
          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
          package-name: osrf_testing_tools_cpp
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test_cpp_package.repos"
        if: runner.os != 'Windows'
      - run: find ${{ steps.test_coverage.outputs.ros-workspace-directory-name }}/build -name "*.gcda" | grep -q "."
        name: "Check if one or more code coverage files (*.gcda) are present (Linux only)"
        if: runner.os != 'Windows'

      - uses: ./
        id: test_extra_cmake
        name: "Test single package, with extra cmake flags"
        with:
          package-name: ament_cmake_core
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test${{ matrix.os == 'ubuntu:24.04' && '_noble' || '' }}.repos"
          # We use a long unique string here to make sure that if this string
          # is found in CMakeCache.txt, it means the additional CMake flag has
          # been passed successfully. Non recognized flags are also written by
          # cmake into CMakeCache.txt, so this does not need to be a flag that
          # really exists in this package.
          extra-cmake-args: |
            -DADDITIONAL_CMAKE_OPTION_FOR_TEST:STR="9ae391a63628efe6d72ba34a1a1d9dc9"
      - run: grep -q 9ae391a63628efe6d72ba34a1a1d9dc9 ./${{ steps.test_extra_cmake.outputs.ros-workspace-directory-name }}/build/ament_cmake_core/CMakeCache.txt
        name: "Check that the additional extra flags has been correctly passed"

      - uses: ./
        id: test_skip_tests
        name: "Test single package, skip tests"
        with:
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ env.DISTRO_REPOS_URL }}
          skip-tests: true
      - run: test -d "${{ steps.test_skip_tests.outputs.ros-workspace-directory-name }}/build/ament_copyright"
        name: "Check that a build directory exists for ament_copyright"
      - run: test ! -f "${{ steps.test_skip_tests.outputs.ros-workspace-directory-name }}/build/ament_copyright/colcon_test.rc"
        name: "Check that 'colcon test' wasn't run on ament_copyright"

      - uses: ./
        id: test_no_symlink_install
        name: "Test single package, with no --symlink-install"
        with:
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ env.DISTRO_REPOS_URL }}
          no-symlink-install: true
      - run: test ! -f "${{ steps.test_no_symlink_install.outputs.ros-workspace-directory-name }}/install/ament_copyright/lib/python3.*/site-packages/ament-copyright.egg-link"
        name: "Check that an .egg-link file in the install dir does not exist for ament_copyright"

  test_ros2_from_source_docker:
    name: "Test ROS 2 from source Docker"
    runs-on: ubuntu-latest
    needs: pre_condition
    strategy:
      fail-fast: false
      matrix:
        ros_distribution:
          - humble
          - iron
          - jazzy
          - rolling

        # Define the Docker image(s) associated with each ROS distribution.
        # The include syntax allows additional variables to be defined, like
        # docker_image in this case. See documentation:
        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
        #
        # Platforms are defined in REP 2000: https://ros.org/reps/rep-2000.html
        include:
          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: ubuntu:jammy
            ros_distribution: humble
            distro_repos_url: https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos

          # Iron Irwini (May 2023 - November 2024)
          - docker_image: ubuntu:jammy
            ros_distribution: iron
            distro_repos_url: https://raw.githubusercontent.com/ros2/ros2/iron/ros2.repos

          # Jazzy Jalisco (May 2024 - May 2029)
          - docker_image: ubuntu:noble
            ros_distribution: jazzy
            distro_repos_url: https://raw.githubusercontent.com/ros2/ros2/jazzy/ros2.repos

          # Rolling Ridley (see REP 2002: https://www.ros.org/reps/rep-2002.html)
          - docker_image: ubuntu:noble
            ros_distribution: rolling
            distro_repos_url: https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos
    container:
      image: ${{ matrix.docker_image }}
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.2
        with:
          node-version: "16.x"
      - run: .github/workflows/build-and-test.sh
      - uses: ros-tooling/setup-ros@master
      - uses: ./
        id: test_single_package
        name: "Test single package, default options"
        with:
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ matrix.distro_repos_url }}
      - run: test -d "${{ steps.test_single_package.outputs.ros-workspace-directory-name }}/install/ament_copyright"
        name: "Check that ament_copyright install directory is present"

      - uses: ./
        id: test_multiple_packages
        name: "Test multiple package, default options"
        with:
          package-name: ament_copyright ament_lint
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ matrix.distro_repos_url }}
      - run: test -d "${{ steps.test_multiple_packages.outputs.ros-workspace-directory-name }}/install/ament_copyright"
        name: "Check that ament_copyright install directory is present"
      - run: test -d "${{ steps.test_multiple_packages.outputs.ros-workspace-directory-name }}/install/ament_lint"
        name: "Check that ament_lint install directory is present"

      - uses: ./
        id: test_connext_dependency
        name: "Test single package with Connext dependency, default options"
        with:
          package-name: rmw_implementation
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ matrix.distro_repos_url }}
      - run: test -d "${{ steps.test_connext_dependency.outputs.ros-workspace-directory-name }}/install/rmw_implementation"
        name: "Check that rmw_implementation install directory is present"

      - uses: ./
        id: test_mixin
        name: "Test single package, with custom mixin"
        with:
          colcon-defaults: |
            {
              "build": {
                "mixin": ["asan-gcc"]
              }
            }
          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ${{ matrix.distro_repos_url }}
      - run: test -d "${{ steps.test_mixin.outputs.ros-workspace-directory-name }}/install/ament_copyright"
        name: "Check that ament_copyright install directory is present"

      - uses: ./
        id: test_repo
        name: "Test single package, with custom repository file"
        with:
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test${{ matrix.os == 'ubuntu:24.04' && '_noble' || '' }}.repos"
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
      - run: test -d "${{ steps.test_repo.outputs.ros-workspace-directory-name }}/install/ament_copyright"

      # The second repo file is ignored, but will get vcs-import'ed anyway.
      # This test case just run basic testing on the action logic, making
      # sure the for-loop is implemented correctly.
      - uses: ./
        id: test_multiple_repos
        name: "Test single package, with multiple custom repository files"
        with:
          vcs-repo-file-url: |
            .github/workflows/repo_file_for_test${{ matrix.os == 'ubuntu:24.04' && '_noble' || '' }}.repos
            .github/workflows/repo_file_for_test_cpp_package.repos
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
      - run: test -d "${{ steps.test_multiple_repos.outputs.ros-workspace-directory-name }}/install/ament_copyright"
      - run: test -d "${{ steps.test_multiple_repos.outputs.ros-workspace-directory-name }}/src/ament_lint"
      - run: test -d "${{ steps.test_multiple_repos.outputs.ros-workspace-directory-name }}/src/osrf_testing_tools_cpp"

      - uses: ./
        id: test_coverage
        name: "Test single package, with coverage enabled (Linux only)"
        with:
          colcon-defaults: |
            {
              "build": {
                "mixin": ["coverage-gcc"]
              }
            }
          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
          package-name: osrf_testing_tools_cpp
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test_cpp_package.repos"
      - run: find ${{ steps.test_coverage.outputs.ros-workspace-directory-name }}/build -name "*.gcda" | grep -q "."
        name: "Check if one or more code coverage files (*.gcda) are present (Linux only)"

      - uses: ./
        id: test_extra_cmake
        name: "Test single package, with extra cmake flags"
        with:
          package-name: ament_cmake_core
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test${{ matrix.os == 'ubuntu:24.04' && '_noble' || '' }}.repos"
          # We use a long unique string here to make sure that if this string
          # is found in CMakeCache.txt, it means the additional CMake flag has
          # been passed successfully. Non recognized flags are also written by
          # cmake into CMakeCache.txt, so this does not need to be a flag that
          # really exists in this package.
          extra-cmake-args: |
            -DADDITIONAL_CMAKE_OPTION_FOR_TEST:STR="9ae391a63628efe6d72ba34a1a1d9dc9"
      - run: grep -q 9ae391a63628efe6d72ba34a1a1d9dc9 ./${{ steps.test_extra_cmake.outputs.ros-workspace-directory-name }}/build/ament_cmake_core/CMakeCache.txt
        name: "Check that the additional extra flags has been correctly passed"

      - uses: ./
        id: test_directories_with_same_name_as_repo
        name: "Test that directories with the same name as this repository are not removed"
        with:
          package-name: ament_copyright
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/repo_file_for_test_dirs_with_same_name_as_repo${{ matrix.os == 'ubuntu:24.04' && '_noble' || '' }}.repos"
      - run: test -d "${{ steps.test_directories_with_same_name_as_repo.outputs.ros-workspace-directory-name }}/src/action-ros-ci/foo"
      - run: test -d "${{ steps.test_directories_with_same_name_as_repo.outputs.ros-workspace-directory-name }}/src/foo/action-ros-ci/bar"