rclnodejs/.github/workflows/prebuild-linux-x64.yml at develop · RobotWebTools/rclnodejs · GitHub

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name: Prebuild Linux x64

on:
  workflow_dispatch:
  workflow_call:

jobs:
  prebuild:
    runs-on: ubuntu-latest
    container:
      image: ${{ matrix.docker_image }}
    strategy:
      fail-fast: false
      matrix:
        node-version: [24.X]
        architecture: [x64]
        ros_distribution:
          - humble
          - jazzy
          - kilted
          - lyrical
        include:
          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: ubuntu:jammy
            ros_distribution: humble
            ubuntu_codename: jammy
          # Jazzy Jalisco (May 2024 - May 2029)
          - docker_image: ubuntu:noble
            ros_distribution: jazzy
            ubuntu_codename: noble
          # Kilted Kaiju (May 2025 - Dec 2026)
          - docker_image: ubuntu:noble
            ros_distribution: kilted
            ubuntu_codename: noble
          # Lyrical Luth (May 2026 - May 2031)
          - docker_image: ubuntu:26.04
            ros_distribution: lyrical
            ubuntu_codename: resolute

    steps:
    - name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }}
      uses: actions/setup-node@v6
      with:
        node-version: ${{ matrix.node-version }}
        architecture: ${{ matrix.architecture }}

    - name: Setup ROS2
      if: ${{ matrix.ros_distribution != 'lyrical' }}
      uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: ${{ matrix.ros_distribution }}

    - name: Enable ROS2 apt repository (lyrical)
      if: ${{ matrix.ros_distribution == 'lyrical' }}
      run: |
        apt-get update
        apt-get install -y software-properties-common curl
        # Per https://docs.ros.org/en/lyrical/Installation/Ubuntu-Install-Debs.html
        add-apt-repository universe
        ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
        dpkg -i /tmp/ros2-apt-source.deb
        apt-get update
        apt-get install -y build-essential cmake python3

    - name: Install ROS2 from apt (lyrical)
      if: ${{ matrix.ros_distribution == 'lyrical' }}
      run: |
        apt-get install -y ros-lyrical-desktop

    - uses: actions/checkout@v6

    - name: Install dependencies
      shell: bash
      run: |
        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
        npm i

    - name: Generate prebuilt binary
      shell: bash
      run: |
        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
        npm run prebuild

    - name: Upload prebuilt binary
      uses: actions/upload-artifact@v7
      with:
        name: prebuilt-linux-x64-node${{ matrix.node-version }}-${{ matrix.ubuntu_codename }}-${{ matrix.ros_distribution }}
        path: prebuilds/linux-x64/*.node
        if-no-files-found: error

    - name: Test loading prebuilt
      shell: bash
      run: |
        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
        node -e "
          const rclnodejs = require('./index.js');
          console.log('Successfully loaded rclnodejs with prebuilt binary');
          console.log('Platform:', process.platform, 'Arch:', process.arch);
          console.log('ROS_DISTRO:', process.env.ROS_DISTRO);
        "