micro_ros_espidf_component/.github/workflows/ci.yml at rolling · micro-ROS/micro_ros_espidf_component · GitHub

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name: CI

on:
  pull_request:
  push:
    branches:
      - humble
      - jazzy
      - kilted
      - rolling
  workflow_call:
    inputs:
      branch:
        description: "Branch to checkout"
        required: false
        type: string
        default: "rolling"
  workflow_dispatch:

jobs:
  micro_ros_idf:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        idf_target: [esp32, esp32s2, esp32s3, esp32c3, esp32c6]
        idf_version: [v5.2, v5.3, v5.4, v5.5]

    container:
      image: "espressif/idf:release-${{ matrix.idf_version }}"

    steps:
      - uses: actions/checkout@v6
        with:
          path: micro_ros_espidf_component
          ref: ${{ inputs.branch || github.ref }}

      - name: Dependencies
        shell: bash
        env:
          TARGET_BRANCH: ${{ inputs.branch || github.base_ref || github.ref_name }}
        run: |
          . $IDF_PATH/export.sh
          echo "::notice::TARGET_BRANCH=$TARGET_BRANCH"
          if [ "$TARGET_BRANCH" = "humble" ]; then
            python3 -m pip uninstall -y em empy || true
            python3 -m pip install catkin_pkg colcon-common-extensions lark "empy==3.3.4"
          else
            python3 -m pip install catkin_pkg colcon-common-extensions lark
          fi

      - name: Build sample - int32_publisher
        shell: bash
        run: |
          . $IDF_PATH/export.sh
          cd micro_ros_espidf_component/examples/int32_publisher
          idf.py set-target ${{ matrix.idf_target }}
          idf.py build

      - name: Build sample - low_consumption
        shell: bash
        if: matrix.idf_target != 'esp32c3' && matrix.idf_target != 'esp32s3' && matrix.idf_target != 'esp32c6'
        run: |
          . $IDF_PATH/export.sh
          cd micro_ros_espidf_component/examples/low_consumption
          idf.py set-target ${{ matrix.idf_target }}
          idf.py build

      - name: Build sample - handle_static_types
        shell: bash
        run: |
          . $IDF_PATH/export.sh
          cd micro_ros_espidf_component/examples/handle_static_types
          idf.py set-target ${{ matrix.idf_target }}
          idf.py build

      - name: Build sample - int32_publisher_custom_transport
        shell: bash
        run: |
          . $IDF_PATH/export.sh
          cd micro_ros_espidf_component
          make -f libmicroros.mk clean
          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
          cd examples/int32_publisher_custom_transport
          idf.py set-target ${{ matrix.idf_target }}
          idf.py build

      - name: Build sample - int32_publisher_custom_transport_usbcdc
        shell: bash
        if: matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3'
        run: |
          . $IDF_PATH/export.sh
          cd micro_ros_espidf_component/examples/int32_publisher_custom_transport_usbcdc
          idf.py set-target ${{ matrix.idf_target }}
          idf.py build

      - name: Build sample - multithread_publisher
        shell: bash
        run: |
          . $IDF_PATH/export.sh
          cd micro_ros_espidf_component
          make -f libmicroros.mk clean
          sed -i 's/DRMW_UXRCE_TRANSPORT=udp/DRMW_UXRCE_TRANSPORT=custom/' colcon.meta
          cd examples/multithread_publisher
          idf.py set-target ${{ matrix.idf_target }}
          idf.py build