From dda7c4b5dd8a11397f46322d5bd464a4439cf5a7 Mon Sep 17 00:00:00 2001
From: Michael Ripperger <michael.ripperger@swri.org>
Date: Thu, 8 Aug 2024 00:47:09 -0400
Subject: [PATCH] CI Update (#81)

* Updated CI workflow

* Moved Python deps to package.xml
---
 .github/workflows/add_ros_apt_sources.sh |  4 --
 .github/workflows/ubuntu.yml             | 72 +++++++++---------------
 package.xml                              |  6 ++
 requirements.txt                         |  6 --
 4 files changed, 32 insertions(+), 56 deletions(-)
 delete mode 100755 .github/workflows/add_ros_apt_sources.sh
 delete mode 100644 requirements.txt

diff --git a/.github/workflows/add_ros_apt_sources.sh b/.github/workflows/add_ros_apt_sources.sh
deleted file mode 100755
index 30655db0..00000000
--- a/.github/workflows/add_ros_apt_sources.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#! /bin/bash
-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" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-apt update -qq
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index dcc548b6..0c3f37bb 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -1,14 +1,13 @@
-name: Ubuntu
+name: Ubuntu [Focal, Jammy, Noble]
 
 on:
   push:
     branches:
       - master
   pull_request:
-    branches:
-      - master
   schedule:
     - cron: '0 5 * * *'
+  workflow_dispatch:
   release:
     types:
       - released
@@ -20,52 +19,33 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [focal, jammy]
-    env:
-      REGISTRY: ghcr.io
-      IMAGE_NAME: ${{ github.repository }}
-      PREFIX: ${{ github.repository }}_
+        distro: [focal, jammy, noble]
+    container:
+      image: ubuntu:${{ matrix.distro }}
+      env:
+        CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v2
-
-      - name: Login to Github Packages
-        uses: docker/login-action@v2
+        uses: actions/checkout@v4
         with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
+          path: target_ws/src
 
-      - name: Extract Docker meta-information
-        id: meta
-        uses: docker/metadata-action@v3
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@v9
         with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-          flavor: |
-            latest=false
-            prefix=
-            suffix=
-          tags: |
-            type=ref,event=branch,prefix=${{ matrix.distro }}-
-            type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.distro }}-
-
-      - name: Build repository
-        uses: 'tesseract-robotics/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
-        env:
-          DOCKER_IMAGE: ubuntu:${{ matrix.distro }}
-          ROS_DISTRO: false
-          PREFIX: ${{ github.repository }}_
-          UPSTREAM_WORKSPACE: dependencies.repos
-          ADDITIONAL_DEBS: 'curl lsb-release'
-          AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
-          TARGET_CMAKE_ARGS: '-DENABLE_TESTING=ON -DENABLE_RUN_TESTING=OFF -DCMAKE_BUILD_TYPE=Release'
-          AFTER_INSTALL_TARGET_DEPENDENCIES: 'python3 -m pip install -r requirements.txt -qq'
-          BEFORE_RUN_TARGET_TEST: 'apt remove *-dev -y -qq'
-          BEFORE_RUN_TARGET_TEST_EMBED: 'ici_with_unset_variables source $BASEDIR/${PREFIX}target_ws/install/setup.bash'
-          AFTER_RUN_TARGET_TEST: 'python3 -m pytest -v'
-          AFTER_SCRIPT: 'rm -rf $BASEDIR/${PREFIX}upstream_ws/build $BASEDIR/${PREFIX}target_ws/build'
-          DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}
+          before-script:
+          ccache-prefix: ${{ matrix.distro }}
+          add-ros-ppa: true
+          vcs-file: dependencies.repos
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DENABLE_TESTING=ON -DENABLE_RUN_TESTING=OFF
 
-      - name: Push post-build Docker
-        if: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' || github.ref_type == 'tag' }}
-        run: docker push ${{ steps.meta.outputs.tags }}
+      - name: Python Tests
+        working-directory: target_ws/src
+        shell: bash
+        run: |
+          source ../install/setup.bash
+          python3 -m pytest -v
diff --git a/package.xml b/package.xml
index 9f19a75b..f8b1a13b 100644
--- a/package.xml
+++ b/package.xml
@@ -18,6 +18,12 @@
   <depend>libomp-dev</depend>
   <depend>yaml-cpp</depend>
   <test_depend>gtest</test_depend>
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>python3-scipy</exec_depend>
+  <exec_depend>python3-open3d</exec_depend>
+  <exec_depend>python3-tqdm</exec_depend>
+  <exec_depend>python3-matplotlib</exec_depend>
+  <exec_depend>python3-pytest</exec_depend>
 
   <export>
     <build_type>cmake</build_type>
diff --git a/requirements.txt b/requirements.txt
deleted file mode 100644
index 440b084c..00000000
--- a/requirements.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-numpy
-scipy
-open3d
-tqdm
-matplotlib
-pytest
\ No newline at end of file