chore: add kalman_description #5
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| name: Build for RPi | |
| on: | |
| push: | |
| branches: [ "main" ] | |
| pull_request: | |
| branches: [ "main" ] | |
| jobs: | |
| build: | |
| runs-on: ubuntu-24.04 | |
| name: Build on RPi in QEMU | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: uraimo/run-on-arch-action@v2 | |
| name: Run commands | |
| id: runcmd | |
| with: | |
| arch: none | |
| distro: none | |
| base_image: arm64v8/ubuntu:24.04 | |
| # Not required, but speeds up builds | |
| githubToken: ${{ github.token }} | |
| # Create an artifacts directory | |
| setup: | | |
| mkdir -p "${PWD}/artifacts" | |
| shell: /bin/bash | |
| # Mount the artifacts directory as /artifacts in the container | |
| dockerRunArgs: | | |
| --volume "${PWD}/artifacts:/artifacts" | |
| # Pass some environment variables to the container | |
| env: | # YAML, but pipe character is necessary | |
| artifact_name: git-rpi-build | |
| workspace: ${GITHUB_WORKSPACE} | |
| install: | | |
| sudo apt update | |
| sudo apt install -y software-properties-common | |
| sudo add-apt-repository -y universe | |
| sudo apt update && sudo apt install curl -y | |
| sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | |
| sudo apt update | |
| sudo apt install -y ros-rolling-ros-base ros-rolling-moveit* ros-rolling-ros2-control* ros-dev-tools python3-transforms3d python3-colcon-mixin ros-rolling-libphidget22 python3-serial python3-pyudev ros-rolling-spacenav ros-rolling-geographic-msgs python3-rosdep | |
| sudo rosdep init | |
| # Set an output parameter `uname` for use in subsequent steps | |
| run: | | |
| source /opt/ros/galactic/setup.bash | |
| rosdep update | |
| cd ${workspace}/arm_ws | |
| rosdep install --from-paths src -y --ignore-src | |
| colcon build --symlink-install --cmake-args " -DCMAKE_BUILD_TYPE=RelWithDebInfo" | |
| cp -r install/ "/artifacts/${artifact_name}" | |
| echo "Produced artifact at /artifacts/${artifact_name}" | |
| - name: Show build files | |
| run: | | |
| ls -al "${PWD}/artifacts" |