Speedup cicd

.github/scripts/install_dls2_msgs.sh

@@ -0,0 +1,64 @@
+#!/bin/bash
+# Downloads the prebuilt dls2_msgs release asset from GitHub and installs it.
+# Runs inside the dls2-dev container as part of the build preparation step.
+# Requires: CICD_PAT or GITHUB_TOKEN env var for authentication.
+set -euo pipefail
+
+DOWNLOAD_DIR="/tmp/dls2-msgs-release"
+REPO="iit-DLSLab/dls2_msgs"
+
+echo "--- Installing dls2_msgs prebuilt artifacts ---"
+
+# Install gh CLI if not present in the container
+if ! command -v gh &>/dev/null; then
+    echo "gh CLI not found, installing..."
+    apt-get update -qq
+    apt-get install -y gh
+fi
+
+TOKEN="${CICD_PAT:-${GITHUB_TOKEN:-}}"
+if [ -z "$TOKEN" ]; then
+    echo "::error::No GitHub token found (CICD_PAT or GITHUB_TOKEN). Cannot download release."
+    exit 1
+fi
+export GH_TOKEN="$TOKEN"
+
+# Resolve the dls2_msgs submodule commit SHA pinned in this repo
+SHA="$(git ls-tree HEAD dls2_msgs | awk '{print $3}')"
+echo "dls2_msgs submodule is pinned to commit: $SHA"
+
+# Find the release tag that points to that commit
+TAG="$(
+    git ls-remote --tags "https://x-access-token:${TOKEN}@github.com/${REPO}.git" |
+    awk -v sha="$SHA" '
+        $1 == sha {
+            ref = $2
+            sub("^refs/tags/", "", ref)
+            sub("\\^\\{\\}$", "", ref)
+            print ref
+            exit
+        }
+    '
+)"
+
+if [ -z "$TAG" ]; then
+    echo "::error::No release tag found in ${REPO} for commit ${SHA}"
+    exit 1
+fi
+echo "Found release tag: $TAG"
+
+# Download the dev .deb package from that release
+mkdir -p "$DOWNLOAD_DIR"
+gh release download "$TAG" \
+    --repo "$REPO" \
+    --pattern "dls-messages-dev.deb" \
+    --dir "$DOWNLOAD_DIR" \
+    --clobber
+
+echo "Downloaded assets:"
+ls -lR "$DOWNLOAD_DIR"
+
+# Install the .deb package (apt-get handles dependencies automatically)
+echo "Installing dls-messages-dev .deb..."
+sudo dpkg -i "$DOWNLOAD_DIR"/dls-messages-dev.deb
+echo "dls2_msgs installed successfully."

.github/workflows/build_test.yml

@@ -14,6 +14,8 @@ jobs:
     uses: iit-DLSLab/cicd_tools/.github/workflows/dls2_build_test.yml@main
     with:
       test-command: "ls"
+      build-script-path: .github/scripts/install_dls2_msgs.sh
+      cmake-arguments: "-DBUILD_DLS2_MSGS=OFF"
     secrets:
       GHCR_USERNAME: ${{ secrets.GHCR_USERNAME }}
       CICD_PAT: ${{ secrets.CICD_PAT }}

.github/workflows/create-release-deb.yml

@@ -20,6 +20,7 @@ jobs:
     with:
       test-command: "ls"
       output_workflow_artifact_name: build
+      cmake-arguments: "-DBUILD_DLS2_MSGS=OFF"
     secrets:
       GHCR_USERNAME: ${{ secrets.GHCR_USERNAME }}
       CICD_PAT: ${{ secrets.CICD_PAT }}

.gitmodules

@@ -10,3 +10,6 @@
 [submodule "dls2_ros2_interface"]
 	path = dls2_ros2_interface
 	url = git@github.com:iit-DLSLab/dls2_ros2_interface.git
+[submodule "dls2_msgs"]
+	path = dls2_msgs
+	url = git@github.com:iit-DLSLab/dls2_msgs.git

CMakeLists.txt

@@ -6,8 +6,14 @@ if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE)
 endif()
 
-set(DLS_MESSAGE_FOLDER ${CMAKE_CURRENT_SOURCE_DIR}/dls2/modules/messages)
+set(DLS_MESSAGE_FOLDER ${CMAKE_CURRENT_SOURCE_DIR}/dls2_msgs
+  CACHE PATH "Path to the dls2_msgs folder"
+)
 add_subdirectory(dls2)
+option(BUILD_DLS2_MSGS "Build the dls2_msgs submodule. Disable when dls2_msgs is pre-installed (e.g. in CI)." ON)
+if(BUILD_DLS2_MSGS)
+	add_subdirectory(dls2_msgs)
+endif()
 add_subdirectory(robotlib)
 add_subdirectory(gluecode)
 add_subdirectory(visualizers/rviz_interface)

build.bash

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+cd build
+make -j14
+cd ..

clean_build.bash

@@ -0,0 +1,8 @@
+#!/bin/bash
+
+clear
+sudo rm -r ./build/*
+cd build
+cmake ..
+make -j14
+cd ..

visualizers/rviz_interface/CMakeLists.txt

@@ -6,11 +6,12 @@ add_compile_options("-std=c++2a")
 
 find_package(fastcdr 2 REQUIRED)
 find_package(fastdds 3 REQUIRED)
+find_package(dls_messages REQUIRED)
 
 if(DEFINED DLS_MESSAGE_FOLDER)
 	list(APPEND CMAKE_MODULE_PATH "${DLS_MESSAGE_FOLDER}/cmake")
 else()
-	list(APPEND CMAKE_MODULE_PATH "/usr/include/generate_msg_library/cmake")
+	list(APPEND CMAKE_MODULE_PATH "/usr/include/dls_messages/cmake")
 endif()
 include(generate_msg_library)
 
@@ -59,7 +60,6 @@ target_link_libraries(${PROJECT_NAME}
 )
 target_link_directories(${PROJECT_NAME}
 	PRIVATE
-        /usr/lib/dls2
 		${DLS_INSTALL_PERIODIC_APP_PLUGIN_DIR}/${PROJECT_NAME}
 )