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rust-minimal.yml
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name: Rust Minimal
on:
push:
branches: [ main ]
pull_request:
branches: [ main ]
schedule:
# Run the CI at 02:22 UTC every Tuesday
# We pick an arbitrary time outside of most of the world's work hours
# to minimize the likelihood of running alongside a heavy workload.
- cron: '22 2 * * 2'
env:
CARGO_TERM_COLOR: always
jobs:
build:
strategy:
matrix:
ros_distribution:
- humble
- iron
- rolling
include:
# Humble Hawksbill (May 2022 - May 2027)
- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
ros_distribution: humble
ros_version: 2
# Iron Irwini (May 2023 - November 2024)
- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
ros_distribution: iron
ros_version: 2
# Rolling Ridley (June 2020 - Present)
- docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
ros_distribution: rolling
ros_version: 2
runs-on: ubuntu-latest
continue-on-error: ${{ matrix.ros_distribution == 'rolling' }}
container:
image: ${{ matrix.docker_image }}
steps:
- uses: actions/checkout@v4
- name: Search packages in this repository
id: list_packages
run: |
{
echo 'package_list<<EOF'
colcon list --names-only
echo EOF
} >> "$GITHUB_OUTPUT"
- name: Setup ROS environment
uses: ros-tooling/[email protected]
with:
required-ros-distributions: ${{ matrix.ros_distribution }}
use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
- name: Setup Rust
uses: dtolnay/[email protected]
with:
components: clippy, rustfmt
- name: Install colcon-cargo and colcon-ros-cargo
run: |
sudo pip3 install git+https://github.com/colcon/colcon-cargo.git
sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git
- name: Check formatting of Rust packages
run: |
for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
cd $path
rustup toolchain install nightly
cargo +nightly fmt -- --check
cd -
done
- name: Install cargo-ament-build
run: |
cargo install --debug cargo-ament-build
- name: Build and test
id: build
uses: ros-tooling/[email protected]
with:
package-name: ${{ steps.list_packages.outputs.package_list }}
target-ros2-distro: ${{ matrix.ros_distribution }}
vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos
- name: Run clippy on Rust packages
run: |
cd ${{ steps.build.outputs.ros-workspace-directory-name }}
. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
cd $path
echo "Running clippy in $path"
# Run clippy for all features except generate_docs (needed for docs.rs)
if [ "$(basename $path)" = "rclrs" ]; then
cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
else
cargo clippy --no-deps --all-targets --all-features -- -D warnings
fi
cd -
done
- name: Run cargo test on Rust packages
run: |
cd ${{ steps.build.outputs.ros-workspace-directory-name }}
. install/setup.sh
for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
cd $path
echo "Running cargo test in $path"
# Run cargo test for all features except generate_docs (needed for docs.rs)
if [ "$(basename $path)" = "rclrs" ]; then
cargo test -F default,dyn_msg
elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
cargo test -F default
else
cargo test --all-features
fi
cd -
done
- name: Rustdoc check
run: |
cd ${{ steps.build.outputs.ros-workspace-directory-name }}
. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
cd $path
echo "Running rustdoc check in $path"
cargo rustdoc -- -D warnings
cd -
done