Add simple talk/listener tutorial, matching the official ROS 2 documentation #378 #1717
Workflow file for this run
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| name: Rust | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| schedule: | |
| - cron: '0 0 * * *' | |
| env: | |
| CARGO_TERM_COLOR: always | |
| jobs: | |
| build: | |
| strategy: | |
| matrix: | |
| ros_distribution: | |
| - humble | |
| - iron | |
| - rolling | |
| include: | |
| # Humble Hawksbill (May 2022 - May 2027) | |
| - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest | |
| ros_distribution: humble | |
| ros_version: 2 | |
| # Iron Irwini (May 2023 - November 2024) | |
| - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest | |
| ros_distribution: iron | |
| ros_version: 2 | |
| # Rolling Ridley (June 2020 - Present) | |
| - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest | |
| ros_distribution: rolling | |
| ros_version: 2 | |
| runs-on: ubuntu-latest | |
| continue-on-error: ${{ matrix.ros_distribution == 'rolling' }} | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Search packages in this repository | |
| id: list_packages | |
| run: | | |
| echo ::set-output name=package_list::$(colcon list --names-only) | |
| - name: Setup ROS environment | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distribution }} | |
| use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }} | |
| - name: Setup Rust | |
| uses: dtolnay/rust-toolchain@1.74.0 | |
| with: | |
| components: clippy, rustfmt | |
| - name: Install colcon-cargo and colcon-ros-cargo | |
| run: | | |
| sudo pip3 install git+https://github.com/colcon/colcon-cargo.git | |
| sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git | |
| - name: Check formatting of Rust packages | |
| run: | | |
| for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do | |
| cd $path | |
| rustup toolchain install nightly | |
| cargo +nightly fmt -- --check | |
| cd - | |
| done | |
| - name: Install cargo-ament-build | |
| run: | | |
| cargo install --debug cargo-ament-build | |
| - name: Build and test | |
| id: build | |
| uses: ros-tooling/action-ros-ci@v0.3 | |
| with: | |
| package-name: ${{ steps.list_packages.outputs.package_list }} | |
| target-ros2-distro: ${{ matrix.ros_distribution }} | |
| vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos | |
| - name: Run clippy on Rust packages | |
| run: | | |
| cd ${{ steps.build.outputs.ros-workspace-directory-name }} | |
| . /opt/ros/${{ matrix.ros_distribution }}/setup.sh | |
| for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do | |
| cd $path | |
| echo "Running clippy in $path" | |
| # Run clippy for all features except generate_docs (needed for docs.rs) | |
| if [ "$(basename $path)" = "rclrs" ]; then | |
| cargo clippy --all-targets -F default,dyn_msg -- -D warnings | |
| else | |
| cargo clippy --all-targets --all-features -- -D warnings | |
| fi | |
| cd - | |
| done | |
| - name: Run cargo test on Rust packages | |
| run: | | |
| cd ${{ steps.build.outputs.ros-workspace-directory-name }} | |
| . install/setup.sh | |
| for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do | |
| cd $path | |
| echo "Running cargo test in $path" | |
| # Run cargo test for all features except generate_docs (needed for docs.rs) | |
| if [ "$(basename $path)" = "rclrs" ]; then | |
| cargo test -F default,dyn_msg | |
| elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then | |
| cargo test -F default | |
| else | |
| cargo test --all-features | |
| fi | |
| cd - | |
| done | |
| - name: Rustdoc check | |
| run: | | |
| cd ${{ steps.build.outputs.ros-workspace-directory-name }} | |
| . /opt/ros/${{ matrix.ros_distribution }}/setup.sh | |
| for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do | |
| cd $path | |
| echo "Running rustdoc check in $path" | |
| cargo rustdoc -- -D warnings | |
| cd - | |
| done |