espp/.github/workflows/rtps_interop.yml at main · esp-cpp/espp · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
name: RTPS interop (FastDDS / CycloneDDS / ROS 2)

# Minimal token scope: the harness only checks out and builds, never writes.
permissions:
  contents: read

on:
  pull_request:
    paths:
      - "components/rtps/**"
      - "components/socket/**"
      - "components/cdr/**"
      - "lib/espp.cmake"
      - "pc/tests/rtps_*"
      - ".github/workflows/rtps_interop.yml"
  workflow_dispatch:

# Supersede in-progress runs: a new commit on the same PR (or the same branch for
# a manual dispatch) cancels the earlier, now-stale interop run. Keyed by the
# workflow (so it never cross-cancels other workflows) + the PR number, which is
# globally unique - unlike the head branch name, two fork PRs can't collide on it.
# Falls back to github.ref for workflow_dispatch (no PR number there). This
# workflow never runs on push to main, so cancel-in-progress is always safe here.
concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

jobs:
  interop:
    # Once per ROS 2 release the matrix supports: Jazzy (the image the harness
    # was built on) and Humble (the LTS most deployed robots still run, with
    # the older rmw_cyclonedds_cpp 1.3.x). One failing does not cancel the other.
    name: interop (${{ matrix.distro }})
    runs-on: ubuntu-latest
    timeout-minutes: 50
    strategy:
      fail-fast: false
      matrix:
        distro: [jazzy, humble]
    steps:
      - uses: actions/checkout@v7
        with:
          submodules: "recursive"
      - name: Run interop matrix
        env:
          ROS_DISTRO: ${{ matrix.distro }}
        run: |
          cd components/rtps/interop
          ./run.sh