ros_docker.yaml

name: ROS - Build/Publish Docker Image and Run Tests

on:
  workflow_dispatch:
  release:
    types: [published]

jobs:
  build_push_testing:
    runs-on: ubuntu-20.04
    outputs:
      random1: ${{ steps.random1.outputs.random }}
      random2: ${{ steps.random2.outputs.random }}
      random3: ${{ steps.random3.outputs.random }}

    steps:
      - id: random1
        run: echo "random=$RANDOM" >> $GITHUB_OUTPUT
      - id: random2
        run: echo "random=$RANDOM" >> $GITHUB_OUTPUT
      - id: random3
        run: echo "random=$RANDOM" >> $GITHUB_OUTPUT

      - name: Checkout
        uses: actions/checkout@v2

      - name: Set up QEMU
        uses: docker/setup-qemu-action@v1

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v1
        with:
          version: latest

      - name: Login to Docker Registry
        uses: docker/login-action@v1
        with:
          registry: docker.io
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Build and push (latest only)
        if: github.ref_name == 'main'
        uses: docker/build-push-action@v2
        with:
          platforms: "linux/amd64"
          file: Dockerfile.ros
          push: true
          build-args: |
            ROS_DISTRO=iron
            TAG=core
          tags: husarnet/ros:iron-ros-core-testing

  # Without Husarnet

  test_no_husarnet:
    name: Test no-Husarnet setup
    needs: build_push_testing
    runs-on: ubuntu-20.04

    steps:
      - name: Checkout
        uses: actions/checkout@v2

      - name: run test for ${{ matrix.hostname }}
        continue-on-error: true
        timeout-minutes: 2
        run: |
          cd demo-ros
          export ROS_DISTRO=iron
          export CHATTER_ROLE=talker
          docker compose -f compose.no-husarnet.yaml up

      - name: tree
        run: cd demo-ros && docker compose logs chatter | tee output.txt

      - name: tree
        run: tree

      - name: show demo-ros/output.txt content
        run: cat demo-ros/output.txt

      - name: "Check if the log contains 'Hello World' string"
        run: "if [[ $(grep 'Hello World' demo-ros/output.txt | wc -l) -eq 0 ]]; then exit 1; fi"

  # Fast DDS simple

  test_fastdds_simple:
    name: Test Fast DDS simple
    needs: build_push_testing
    runs-on: ubuntu-20.04
    strategy:
      fail-fast: false
      matrix:
        ros-distro: [iron]
        chatter-role: [talker, listener]

    steps:
      - name: Checkout
        uses: actions/checkout@v2

      - name: run test for ${{ matrix.chatter-role }}
        continue-on-error: true
        timeout-minutes: 2
        run: |
          cd demo-ros
          export ROS_DISTRO=${{ matrix.ros-distro }}
          export CHATTER_ROLE=${{ matrix.chatter-role }}
          export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
          export FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds-simple.xml
          export WAIT_HOSTNAMES=talker-${{needs.build_push_testing.outputs.random1}},listener-${{needs.build_push_testing.outputs.random1}}
          export JOINCODE=${{ secrets.JOINCODE }}
          export HOSTNAME=${{ matrix.chatter-role }}-${{needs.build_push_testing.outputs.random1}}
          export HUSARNET_DDS_DEBUG=TRUE
          docker compose up husarnet chatter

      - name: tree
        run: cd demo-ros && docker compose logs chatter | tee output.txt

      - name: tree
        run: tree

      - name: show demo-ros/output.txt content
        run: cat demo-ros/output.txt

      - name: "Check if the log contains 'Hello World' string"
        run: "if [[ $(grep 'Hello World' demo-ros/output.txt | wc -l) -eq 0 ]]; then exit 1; fi"

  # Fast DDS discovery server

  test_fastdds_ds:
    name: Test Fast DDS Discovery Server
    needs: build_push_testing
    runs-on: ubuntu-20.04
    strategy:
      fail-fast: false
      matrix:
        include:
          - chatter-role: talker
            dds-xml: /husarnet-fastdds-ds.xml
            hostname: talker
            services: husarnet chatter
          - chatter-role: listener
            dds-xml: /husarnet-fastdds-ds.xml
            hostname: listener
            services: husarnet chatter
          - chatter-role: "listener"
            dds-xml: "/husarnet-fastdds-ds.xml"
            hostname: ds
            services: husarnet chatter discovery-server

    steps:
      - name: Checkout
        uses: actions/checkout@v2

      - name: run test for ${{ matrix.hostname }}
        continue-on-error: true
        timeout-minutes: 2
        run: |
          cd demo-ros
          export ROS_DISTRO=iron
          export CHATTER_ROLE=${{ matrix.chatter-role }}
          export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
          export FASTRTPS_DEFAULT_PROFILES_FILE=${{ matrix.dds-xml }}
          export WAIT_HOSTNAMES=ds-${{needs.build_push_testing.outputs.random2}}
          export ROS_DISCOVERY_SERVER=ds-${{needs.build_push_testing.outputs.random2}}:11811
          export JOINCODE=${{ secrets.JOINCODE }}
          export HOSTNAME=${{ matrix.hostname }}-${{needs.build_push_testing.outputs.random2}}
          export HUSARNET_DDS_DEBUG=TRUE
          docker compose up ${{ matrix.services }}

      - name: tree
        run: cd demo-ros && docker compose logs chatter | tee output.txt

      - name: tree
        run: tree

      - name: show demo-ros/output.txt content
        run: cat demo-ros/output.txt

      - name: "Check if the log contains 'Hello World' string"
        run: "if [[ $(grep 'Hello World' demo-ros/output.txt | wc -l) -eq 0 ]]; then exit 1; fi"

  # Cyclone DDS simple

  test_cyclonedds_simple:
    name: Test Cyclone DDS simple
    needs: build_push_testing
    runs-on: ubuntu-20.04
    strategy:
      fail-fast: false
      matrix:
        ros-distro: [iron]
        chatter-role: [talker, listener]

    steps:
      - name: Checkout
        uses: actions/checkout@v2

      - name: run test for ${{ matrix.chatter-role }}
        continue-on-error: true
        timeout-minutes: 2
        run: |
          cd demo-ros
          export ROS_DISTRO=${{ matrix.ros-distro }}
          export CHATTER_ROLE=${{ matrix.chatter-role }}
          export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
          export CYCLONEDDS_URI=file:///husarnet-cyclonedds-simple.xml
          export WAIT_HOSTNAMES=talker-${{needs.build_push_testing.outputs.random2}},listener-${{needs.build_push_testing.outputs.random3}}
          export JOINCODE=${{ secrets.JOINCODE }}
          export HOSTNAME=${{ matrix.chatter-role }}-${{needs.build_push_testing.outputs.random3}}
          export HUSARNET_DDS_DEBUG=TRUE
          docker compose up husarnet chatter

      - name: tree
        run: cd demo-ros && docker compose logs chatter | tee output.txt

      - name: tree
        run: tree

      - name: show demo-ros/output.txt content
        run: cat demo-ros/output.txt

      - name: "Check if the log contains 'Hello World' string"
        run: "if [[ $(grep 'Hello World' demo-ros/output.txt | wc -l) -eq 0 ]]; then exit 1; fi"

  # Push on Docker Hub if tests were finished positively

  build_push_production:
    runs-on: ubuntu-20.04
    needs:
      - test_no_husarnet
      - test_fastdds_simple
      - test_fastdds_ds
      - test_cyclonedds_simple
    strategy:
      fail-fast: false
      matrix:
        ros-distro: [iron, humble]
        tag: [core, base]

    steps:
      - name: Print event name and ref name
        run: echo "Event name - ${{ github.event_name }}, ref name - ${{ github.ref_name}}"

      - name: Checkout
        uses: actions/checkout@v2

      - name: Set up QEMU
        uses: docker/setup-qemu-action@v1

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v1
        with:
          version: latest

      - name: Login to Docker Registry
        uses: docker/login-action@v1
        with:
          registry: docker.io
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Build and push (latest only)
        if: github.ref_name == 'main' && github.event_name != 'release'
        uses: docker/build-push-action@v2
        with:
          platforms: "linux/amd64, linux/arm64"
          file: Dockerfile.ros
          push: true
          build-args: |
            ROS_DISTRO=${{ matrix.ros-distro }}
            TAG=${{ matrix.tag }}
          tags: husarnet/ros:${{ matrix.ros-distro }}-ros-${{ matrix.tag }}

      - name: Build and push (release)
        if: github.event_name == 'release'
        uses: docker/build-push-action@v2
        with:
          platforms: "linux/amd64, linux/arm64"
          file: Dockerfile.ros
          push: true
          build-args: |
            ROS_DISTRO=${{ matrix.ros-distro }}
            TAG=${{ matrix.tag }}
          tags: |
            husarnet/ros:${{ matrix.ros-distro }}-ros-${{ matrix.tag }}
            husarnet/ros:${{ matrix.ros-distro }}-ros-${{ matrix.tag }}-${{ github.ref_name}}