Rust #1851
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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 |