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Merged
EugenioCollado merged 1 commit into from
Dec 15, 2025
Merged

CI without docker POC (backport #157) #160

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43 changes: 31 additions & 12 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,6 @@ jobs:

micro_ros_zephyr_module:
runs-on: ubuntu-latest
container:
image: zephyrprojectrtos/ci:v0.26.17
options: --user root
env:
CMAKE_PREFIX_PATH: /opt/toolchains
strategy:
fail-fast: false
matrix:
Expand All @@ -26,28 +21,52 @@ jobs:
with:
path: micro_ros_zephyr_module

- name: Build
shell: bash
- name: Free disk space
run: |
sudo rm -rf /usr/share/dotnet
sudo rm -rf /usr/local/lib/android
sudo rm -rf /opt/ghc
sudo docker image prune --all --force

- name: Create build script
run: |
cat << 'EOF' > build.sh
#!/bin/bash
set -e

# Zephyr setup
apt -y update
west init
west init
cd zephyr
git checkout ${{ matrix.zephyr_version }}
git checkout $ZEPHYR_VERSION
cd ..
west update --narrow

# Installing micro-ROS prerequisites
pip3 install catkin_pkg lark-parser empy colcon-common-extensions

if [[ ${{ github.ref_name }} == "humble" ]] || [[ ${{ github.head_ref }} == *"humble"* ]]; then
if [[ "$REF_NAME" == "humble" ]] || [[ "$HEAD_REF" == *"humble"* ]]; then
# Use empy version 3.3.4 for Humble
pip3 install empy==3.3.4
fi

# Build with Serial USB transport
west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y

# Build with Serial transport
west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
EOF
chmod +x build.sh

- name: Build
run: |
sudo docker run --rm \
--user root \
-v ${{ github.workspace }}:/github/workspace \
-w /github/workspace \
-e CMAKE_PREFIX_PATH=/opt/toolchains \
-e ZEPHYR_VERSION=${{ matrix.zephyr_version }} \
-e REF_NAME=${{ github.ref_name }} \
-e HEAD_REF=${{ github.head_ref }} \
zephyrprojectrtos/ci:v0.26.17 \
/github/workspace/build.sh
43 changes: 31 additions & 12 deletions .github/workflows/nightly.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,6 @@ jobs:

nightly_micro_ros_zephyr_module:
runs-on: ubuntu-latest
container:
image: zephyrprojectrtos/ci:v0.26.17
options: --user root
env:
CMAKE_PREFIX_PATH: /opt/toolchains
strategy:
fail-fast: false
matrix:
Expand All @@ -35,27 +30,51 @@ jobs:
path: micro_ros_zephyr_module
ref: ${{ matrix.branch }}

- name: Build
shell: bash
- name: Free disk space
run: |
sudo rm -rf /usr/share/dotnet
sudo rm -rf /usr/local/lib/android
sudo rm -rf /opt/ghc
sudo docker image prune --all --force

- name: Create build script
run: |
cat << 'EOF' > build.sh
#!/bin/bash
set -e

# Zephyr setup
apt -y update
west init
west init
cd zephyr
git checkout ${{ matrix.zephyr_version }}
git checkout $ZEPHYR_VERSION
cd ..
west update --narrow

# Installing micro-ROS prerequisites
pip3 install catkin_pkg lark-parser empy colcon-common-extensions

if [[ ${{ matrix.branch }} == "humble" ]]; then
if [[ "$BRANCH_NAME" == "humble" ]]; then
# Use empy version 3.3.4 for Humble
pip3 install empy==3.3.4
fi

# Build with Serial USB transport
west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y
west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y

# Build with Serial transport
west build -b disco_l475_iot1 $GITHUB_WORKSPACE/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
EOF
chmod +x build.sh

- name: Build
run: |
sudo docker run --rm \
--user root \
-v ${{ github.workspace }}:/github/workspace \
-w /github/workspace \
-e CMAKE_PREFIX_PATH=/opt/toolchains \
-e ZEPHYR_VERSION=${{ matrix.zephyr_version }} \
-e BRANCH_NAME=${{ matrix.branch }} \
zephyrprojectrtos/ci:v0.26.17 \
/github/workspace/build.sh
1 change: 1 addition & 0 deletions modules/libmicroros/libmicroros.mk
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Expand Up @@ -67,6 +67,7 @@ $(COMPONENT_PATH)/micro_ros_dev/install:
git clone -b jazzy https://github.com/ament/googletest src/googletest; \
git clone -b jazzy https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
git clone -b jazzy https://github.com/ament/ament_index src/ament_index; \
touch src/ament_cmake_ros/rmw_test_fixture/COLCON_IGNORE; \
colcon build --cmake-args -DBUILD_TESTING=OFF;

$(COMPONENT_PATH)/micro_ros_src/src:
Expand Down
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