Debug CI (#1)

* Update ci.yml to use ROS Industrial CI
rwth-irt · Aug 29, 2024 · 40bfcf1 · 40bfcf1
1 parent 0464a35
commit 40bfcf1
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Showing 4 changed files with 26 additions and 37 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -13,23 +13,14 @@ on:
       - main
 
 jobs:
-  CI:
+  industrial_ci:
+    name: ROS Industrial CI
     runs-on: ubuntu-latest
-    container:
-      # avoid long installation times
-      image: ros:noetic-robot
     steps:
       - uses: actions/checkout@v4
-      - uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: noetic
-      - uses: ros-tooling/action-ros-ci@v0.3
-        with:
-          package-name: lbrmed_bringup lbrmed_control lbrmed_description lbrmed_hw_fri lbrmed_moveit_config lbrmed_msgs
-          target-ros1-distro: noetic
-          vcs-repo-file-url: .rosinstall
-        id: ros_ci
-      - name: catkin lint
-        run: |
-          . ${{ steps.ros_ci.outputs.ros-workspace-directory-name }}/devel/setup.sh
-          catkin_lint -W2 --pkg lbrmed_bringup —pkg lbrmed_control —pkg lbrmed_description —pkg lbrmed_hw_fri —pkg lbrmed_moveit_config —pkg lbrmed_msgs
+      - uses: "ros-industrial/industrial_ci@master"
+        env:
+          ROS_DISTRO: noetic
+          CATKIN_LINT: true
+          CATKIN_LINT_ARGS: -W2
+          UPSTREAM_WORKSPACE: .rosinstall
diff --git a/fri/fri/CMakeLists.txt b/fri/fri/CMakeLists.txt
@@ -1,17 +1,17 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(fri)
 
 find_package(catkin REQUIRED COMPONENTS nanopb)
 
 catkin_package(
     INCLUDE_DIRS include
-    LIBRARIES fri_lib
+    LIBRARIES ${PROJECT_NAME}_lib
     CATKIN_DEPENDS nanopb
 )
 include_directories(${catkin_INCLUDE_DIRS} include ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
 # Define target
-add_library(fri_lib
+add_library(${PROJECT_NAME}_lib
     src/friClientApplication.cpp
     src/friCommandMessageEncoder.cpp
     src/friLBRClient.cpp
@@ -26,15 +26,15 @@ add_library(fri_lib
 
 # Add compile options
 if(MSVC)
-    target_compile_options(fri_lib
+    target_compile_options(${PROJECT_NAME}_lib
         PRIVATE -DPB_SYSTEM_HEADER=<nanopb/pb_syshdr_win.h>
             -DPB_FIELD_16BIT
             -DWIN32
             -DHAVE_STDINT_H
             -DHAVE_STDBOOL_H
     )
 else()
-    target_compile_options(fri_lib
+    target_compile_options(${PROJECT_NAME}_lib
         PRIVATE
             -O2
             -Wall
@@ -49,15 +49,15 @@ else()
 endif()
 
 # Add include directories for target
-target_include_directories(fri_lib PUBLIC include PRIVATE src)
+target_include_directories(${PROJECT_NAME}_lib PUBLIC include PRIVATE src)
 
 # Link against dependencies
-target_link_libraries(fri_lib
+target_link_libraries(${PROJECT_NAME}_lib
     ${catkin_LIBRARIES}
 )
 
 # Install
-install(TARGETS fri_lib  
+install(TARGETS ${PROJECT_NAME}_lib  
 ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

diff --git a/fri/nanopb/CMakeLists.txt b/fri/nanopb/CMakeLists.txt
@@ -1,38 +1,36 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(nanopb)
 
 find_package(catkin REQUIRED)
 
 catkin_package(
     INCLUDE_DIRS include
-    LIBRARIES nanopb
+    LIBRARIES ${PROJECT_NAME}
 )
 
 include_directories(${catkin_INCLUDE_DIRS} include ${CMAKE_CURRENT_SOURCE_DIR}/include)
 # Define target
-add_library(nanopb
+add_library(${PROJECT_NAME}
     src/pb_decode.c
     src/pb_encode.c
 )
 
-
-
 if(MSVC)
-    target_compile_options(nanopb
+    target_compile_options(${PROJECT_NAME}
         PRIVATE
-            -DPB_SYSTEM_HEADER=<nanopb/pb_syshdr_win.h>
+            -DPB_SYSTEM_HEADER=<${PROJECT_NAME}/pb_syshdr_win.h>
             -DPB_FIELD_16BIT
             -DWIN32
             -DHAVE_STDINT_H
             -DHAVE_STDBOOL_H
     )
 else()
-    target_compile_options(nanopb
+    target_compile_options(${PROJECT_NAME}
         PRIVATE
             -O2
             -Wall
             -DHAVE_SOCKLEN_T
-            -DPB_SYSTEM_HEADER=<nanopb/pb_syshdr.h>
+            -DPB_SYSTEM_HEADER=<${PROJECT_NAME}/pb_syshdr.h>
             -DPB_FIELD_16BIT
             -DHAVE_STDINT_H
             -DHAVE_STDDEF_H
@@ -43,12 +41,12 @@ else()
 endif()
 
 # Add include directories for target
-target_include_directories(nanopb PUBLIC include PRIVATE src
+target_include_directories(${PROJECT_NAME} PUBLIC include PRIVATE src
 )
-target_link_libraries(nanopb ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 # Install
 install(
-    TARGETS nanopb
+    TARGETS ${PROJECT_NAME}
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}

diff --git a/lbrmed_msgs/config/lbrmed_impedance_fri.cfg b/lbrmed_msgs/config/lbrmed_impedance_fri.cfg