CI without docker POC (backport #157)

.github/workflows/ci.yml

@@ -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:
@@ -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

.github/workflows/nightly.yml

@@ -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:
@@ -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

modules/libmicroros/libmicroros.mk

@@ -61,40 +61,45 @@ configure_toolchain: $(COMPONENT_PATH)/zephyr_toolchain.cmake.in
 $(COMPONENT_PATH)/micro_ros_dev/install:
 	rm -rf micro_ros_dev; \
 	mkdir micro_ros_dev; cd micro_ros_dev; \
-	git clone -b humble https://github.com/ament/ament_cmake src/ament_cmake; \
-	git clone -b humble https://github.com/ament/ament_lint src/ament_lint; \
-	git clone -b humble https://github.com/ament/ament_package src/ament_package; \
-	git clone -b humble https://github.com/ament/googletest src/googletest; \
-	git clone -b humble https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
-	git clone -b humble https://github.com/ament/ament_index src/ament_index; \
+	git clone -b jazzy https://github.com/ament/ament_cmake src/ament_cmake; \
+	git clone -b jazzy https://github.com/ament/ament_lint src/ament_lint; \
+	git clone -b jazzy https://github.com/ament/ament_package src/ament_package; \
+	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; \
 	colcon build --cmake-args -DBUILD_TESTING=OFF;
 
 $(COMPONENT_PATH)/micro_ros_src/src:
 	@rm -rf micro_ros_src; \
 	mkdir micro_ros_src; cd micro_ros_src; \
 	git clone -b ros2 https://github.com/eProsima/micro-CDR src/micro-CDR; \
 	git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client; \
-	git clone -b humble https://github.com/micro-ROS/rcl src/rcl; \
-	git clone -b humble https://github.com/ros2/rclc src/rclc; \
-	git clone -b humble https://github.com/micro-ROS/rcutils src/rcutils; \
-	git clone -b humble https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
-	git clone -b humble https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds; \
-	git clone -b humble https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
-	git clone -b humble https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
-	git clone -b humble https://github.com/ros2/rosidl src/rosidl; \
-	git clone -b humble https://github.com/ros2/rmw src/rmw; \
-	git clone -b humble https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
-	git clone -b humble https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
-	git clone -b humble https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
-	git clone -b humble https://github.com/ros2/common_interfaces src/common_interfaces; \
-	git clone -b humble https://github.com/ros2/test_interface_files src/test_interface_files; \
-	git clone -b humble https://github.com/ros2/rmw_implementation src/rmw_implementation; \
-	git clone -b humble https://github.com/ros2/rcl_logging src/rcl_logging; \
-	git clone -b humble https://gitlab.com/ros_tracing/ros2_tracing src/ros2_tracing; \
-	git clone -b humble https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities; \
+	git clone -b jazzy https://github.com/micro-ROS/rcl src/rcl; \
+	git clone -b jazzy https://github.com/ros2/rclc src/rclc; \
+	git clone -b jazzy https://github.com/micro-ROS/rcutils src/rcutils; \
+	git clone -b jazzy https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
+	git clone -b jazzy https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds; \
+	git clone -b jazzy https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
+	git clone -b jazzy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
+	git clone -b jazzy https://github.com/ros2/rosidl src/rosidl; \
+	git clone -b jazzy https://github.com/ros2/rosidl_dynamic_typesupport src/rosidl_dynamic_typesupport; \
+	git clone -b jazzy https://github.com/ros2/rmw src/rmw; \
+	git clone -b jazzy https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
+	git clone -b jazzy https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
+	git clone -b jazzy https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
+	git clone -b jazzy https://github.com/ros2/common_interfaces src/common_interfaces; \
+	git clone -b jazzy https://github.com/ros2/test_interface_files src/test_interface_files; \
+	git clone -b jazzy https://github.com/ros2/rmw_implementation src/rmw_implementation; \
+	git clone -b jazzy https://github.com/ros2/rcl_logging src/rcl_logging; \
+	git clone -b jazzy https://github.com/ros2/ros2_tracing src/ros2_tracing; \
+	git clone -b jazzy https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities; \
+	git clone -b jazzy https://github.com/ros2/rosidl_core src/rosidl_core; \
+	touch src/ros2_tracing/test_tracetools/COLCON_IGNORE; \
+	touch src/ros2_tracing/lttngpy/COLCON_IGNORE; \
     touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
     touch src/rclc/rclc_examples/COLCON_IGNORE; \
     touch src/common_interfaces/actionlib_msgs/COLCON_IGNORE; \
+	touch src/common_interfaces/std_srvs/COLCON_IGNORE; \
 	touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
     touch src/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE; \
     touch src/rcl_interfaces/test_msgs/COLCON_IGNORE;