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christophfroehlichchristophfroehlich
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Use pixi for windows workflow (#374)
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‎.github/actions/set-package-list-pixi/action.yml‎

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name: "Get package list"
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# pixi has to be installed and available in the PATH
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description: "Get a list of packages in the given path"
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inputs:
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path:
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description: "Path to the repository after checkout action, e.g. src/repo-name"
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required: false
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default: ""
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manifest-path:
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description: "Path to the pixi.toml file or workspace directory"
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required: true
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outputs:
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package_list:
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description: "A white-space separated list of packages"
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value: ${{ steps.colcon.outputs.package_list }}
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package_path_list:
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description: "A white-space separated list of package paths"
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value: ${{ steps.colcon.outputs.package_path_list }}
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repo_name:
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description: "The name of the repo, last part of github.repository"
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value: ${{ steps.split_repo.outputs.repo_name }}
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runs:
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using: "composite"
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steps:
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- id: colcon
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# if a path is given, list the packages in the given path and its subdirectories from the path
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# if no path is given, list all packages in the workspace
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run: |
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call pixi shell-hook -s cmd --manifest-path ${{ inputs.manifest-path }} > pixi_env.bat
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call pixi_env.bat
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setlocal enabledelayedexpansion
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set "package_list="
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set "package_path_list="
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if not "${{ inputs.path }}"=="" (
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for /f "delims=" %%a in ('colcon list --paths "${{ inputs.path }}" --names-only') do (
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set "package_list=!package_list! %%a"
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)
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for /f "delims=" %%a in ('colcon list --paths "${{ inputs.path }}\*" --names-only') do (
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set "package_list=!package_list! %%a"
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)
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for /f "delims=" %%a in ('colcon list --paths "${{ inputs.path }}" --paths-only') do (
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set "package_path_list=!package_path_list! %%a"
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)
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for /f "delims=" %%a in ('colcon list --paths "${{ inputs.path }}\*" --paths-only') do (
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set "package_path_list=!package_path_list! %%a"
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)
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) else (
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for /f "delims=" %%a in ('colcon list --names-only') do (
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set "package_list=!package_list! %%a"
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)
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for /f "delims=" %%a in ('colcon list --paths-only') do (
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set "package_path_list=!package_path_list! %%a"
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)
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)
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echo package_list=!package_list!>> %GITHUB_OUTPUT%
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echo package_path_list=!package_path_list!>> %GITHUB_OUTPUT%
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endlocal
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shell: cmd
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- id: split_repo
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run: |
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echo "repo_name=$(echo ${{ github.repository }} | cut -d '/' -f 2)" >> $GITHUB_OUTPUT
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shell: bash
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- run: |
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echo "repo ${{ steps.split_repo.outputs.repo_name }} contains the packages: ${{ steps.colcon.outputs.package_list }}"
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shell: bash

‎.github/workflows/reusable-ros-tooling-win-build.yml‎

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Original file line numberDiff line numberDiff line change
@@ -5,72 +5,55 @@ on:
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workflow_call:
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inputs:
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ros_distro:
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description: 'ROS 2 distribution name. One of
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https://github.com/ros-tooling/setup-ros/blob/master/src/setup-ros-windows.ts'
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description: "ROS 2 distribution name, e.g. rolling"
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required: true
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type: string
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ref_for_scheduled_build:
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description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
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default: ''
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description: "Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag."
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default: ""
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required: false
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type: string
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os_name:
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description: 'On which OS to run the build job'
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description: "On which OS to run the build job"
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required: false
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default: 'windows-2019'
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default: "windows-2022"
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type: string
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container:
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description: '(optional) Docker container to run the job in, e.g. ubuntu:noble'
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description: "Docker container to run the job in, e.g. ubuntu:noble"
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required: false
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default: ''
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default: ""
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type: string
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pixi_dependencies:
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description: "Whitespace separated list of additional pixi dependencies"
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required: false
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default: ""
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type: string
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windows_dependencies:
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description: 'Path to a repos file with additional windows dependencies'
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description: "Path to a repos file with additional windows dependencies"
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required: false
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default: ""
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type: string
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skip_packages:
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description: "Packages to skip from build"
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default: ""
2939
required: false
30-
default: ''
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type: string
32-
install_boost:
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description: 'Install boost for the build'
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ninja_packages:
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description: "Packages to be built with Ninja generator (default is MSVC otherwise)"
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default: ""
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required: false
35-
default: false
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type: boolean
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type: string
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3847
jobs:
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reusable_ros_tooling_source_build:
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name: ${{ inputs.ros_distro }} ${{ inputs.os_name }}
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runs-on: ${{ inputs.os_name }}
4251
container: ${{ inputs.container }}
4352
env:
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pixi_path: C:\dev
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# this will be src/{repo-owner}/{repo-name}
4555
repo_path: src/${{ github.repository }}
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steps:
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- uses: actions/setup-python@v5
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# setup-ros has hardcoded python 3.8, as it is the default version acc. to REP-2000 for jazzy
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# let's use the same version here for the later action-ros-ci step
50-
with:
51-
python-version: '3.8'
52-
53-
- uses: ros-tooling/[email protected]
54-
with:
55-
required-ros-distributions: ${{ inputs.ros_distro }}
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use-ros2-testing: true
57-
58-
- name: Install boost
59-
uses: MarkusJx/[email protected]
60-
if: ${{ inputs.install_boost }}
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id: install-boost
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with:
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# REQUIRED: Specify the required boost version
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# A list of supported versions can be found here:
65-
# https://github.com/MarkusJx/prebuilt-boost/blob/main/versions-manifest.json
66-
boost_version: 1.86.0
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# OPTIONAL: Specify a platform version
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platform_version: 2019
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# OPTIONAL: Specify a toolset
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toolset: msvc
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# Whether the boost libraries will be supplied through static or shared libraries
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link: shared
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- name: Checkout default ref when build is not scheduled
7558
if: ${{ github.event_name != 'schedule' }}
7659
uses: actions/checkout@v4
@@ -83,65 +66,80 @@ jobs:
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ref: ${{ inputs.ref_for_scheduled_build }}
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path: ${{ env.repo_path }}
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- id: package_list_action
87-
uses: ros-controls/ros2_control_ci/.github/actions/set-package-list@master
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- name: Bootstrap pixi
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# https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
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run: |
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mkdir -p ${{ env.pixi_path }}
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Set-Location -Path ${{ env.pixi_path }}
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irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile pixi.toml
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- name: Install pixi
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uses: prefix-dev/[email protected]
8878
with:
89-
path: ${{ env.repo_path }}
79+
manifest-path: ${{ env.pixi_path }}\pixi.toml
9080

91-
- name: Check for local repos file
92-
id: check_local_repos
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- name: Install additional pixi dependencies
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working-directory: ${{ env.pixi_path }}
9383
run: |
94-
if (Test-Path ${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos) {
95-
Write-Output "Local repos file found"
96-
"repo_file=${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
97-
} else {
98-
Write-Output "No local repos file found"
99-
"repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
100-
}
84+
pixi add ${{ inputs.pixi_dependencies }}
10185
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- name: Set windows dependencies variable
103-
id: set_windows_dependencies
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- name: Install ROS
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working-directory: ${{ env.pixi_path }}
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# Download and extract ROS 2 package
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# https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
10490
run: |
105-
if (![string]::IsNullOrWhiteSpace("${{ inputs.windows_dependencies }}") -and (Test-Path "${{ env.repo_path }}\${{ inputs.windows_dependencies }}")) {
106-
Write-Output "Windows repos file found"
107-
"repo_file=${{ env.repo_path }}\${{ inputs.windows_dependencies }}" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
108-
} else {
109-
Write-Output "No windows dependencies provided or file not found"
110-
"repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
111-
}
91+
$url = "https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip"
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$output = "ros2-package-windows-AMD64.zip"
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Invoke-WebRequest -Uri $url -OutFile $output
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Expand-Archive -Path $output -DestinationPath ros2_${{ inputs.ros_distro }}
11295
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- uses: ros-tooling/[email protected]
114-
# tests are disabled https://github.com/ros-tooling/action-ros-ci/pull/712#issuecomment-969495087
115-
env:
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BOOST_ROOT: ${{ steps.install-boost.outputs.BOOST_ROOT }}
96+
- name: Get package list
97+
id: package_list_action
98+
uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@master
11799
with:
118-
target-ros2-distro: ${{ inputs.ros_distro }}
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package-name: ${{ steps.package_list_action.outputs.package_list }}
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vcs-repo-file-url: |
121-
${{ steps.check_local_repos.outputs.repo_file }}
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${{ steps.set_windows_dependencies.outputs.repo_file }}
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path: ${{ env.repo_path }}
101+
manifest-path: ${{ env.pixi_path }}
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124-
colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
125-
colcon-defaults: |
126-
{
127-
"test": {
128-
"executor": "sequential"
129-
}
103+
- name: Install dependencies
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# check for repos files, and pass them to vcstool
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run: |
106+
Invoke-Expression ((& pixi shell-hook -s powershell --manifest-path ${{ env.pixi_path }}) -join "`n")
107+
$repo_file = "${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos"
108+
if (Test-Path "$repo_file") {
109+
Write-Output "Local repos file found"
110+
vcs import --input $repo_file src
111+
}
112+
if (![string]::IsNullOrWhiteSpace("${{ inputs.windows_dependencies }}")) {
113+
$repo_file_win = "${{ env.repo_path }}\${{ inputs.windows_dependencies }}"
114+
if (Test-Path "$repo_file_win") {
115+
Write-Output "Windows repos file found"
116+
vcs import --input $repo_file_win src
130117
}
131-
id: action-ros
118+
}
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133-
- name: Download issue template for target failure # Has to be a local file
134-
if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule' }}
135-
run:
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wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/.github/issue_template_failed_ci.md -O ${{ env.repo_path }}/.github/issue_template_failed_ci.md
137-
- uses: JasonEtco/create-an-issue@v2
138-
# action-ros-ci does not report more details on test failures afaik
139-
if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule'}}
140-
env:
141-
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
142-
ACTION_NAME: ${{ inputs.ros_distro }}/source
143-
REF: ${{ inputs.ref_for_scheduled_build }}
144-
URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
145-
with:
146-
update_existing: true
147-
filename: ${{ env.repo_path }}/.github/issue_template_failed_ci.md
120+
- name: Build workspace
121+
# use Ninja generator optionally for selected packages.
122+
# This is needed for RSL, but doesn't work for msg packages
123+
# https://github.com/search?q=repo%3APickNikRobotics%2FRSL%20ninja&type=code
124+
# https://github.com/colcon/colcon-ros/issues/84#issuecomment-1862881299
125+
shell: cmd
126+
run: |
127+
call pixi shell-hook -s cmd --manifest-path ${{ env.pixi_path }} > pixi_env.bat
128+
call pixi_env.bat >nul 2>&1
129+
130+
call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
131+
132+
set up_to_arg=
133+
if not "${{ steps.package_list_action.outputs.package_list }}"=="" (
134+
set up_to_arg=--packages-up-to ${{ steps.package_list_action.outputs.package_list }}
135+
)
136+
set skip_arg=
137+
if not "${{ inputs.skip_packages }}"=="" (
138+
set skip_arg=--packages-skip ${{ inputs.skip_packages }}
139+
)
140+
set skip_ninja_arg=
141+
if not "${{ inputs.ninja_packages }}"=="" (
142+
colcon build --packages-up-to ${{ inputs.ninja_packages }} --cmake-args -G Ninja --event-handler console_cohesion+
143+
set skip_ninja_arg=--packages-skip ${{ inputs.ninja_packages }}
144+
)
145+
colcon build %up_to_arg% %skip_arg% %skip_ninja_arg% --event-handler console_cohesion+

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