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.gitlab-ci.yml

0 → 100644
+39 −0
Original line number Diff line number Diff line 
shellcheck:

  image: tecnalia-docker-dev.artifact.tecnalia.dev/koalaman/shellcheck-alpine

  script: shellcheck scripts/*sh

  tags:

    - docker





yamllint:

  image: tecnalia-docker-dev.artifact.tecnalia.dev/sdesbure/yamllint

  script: yamllint $(find . -name '*.yml' -o -name '*.yaml')

  tags:

    - docker



deploy_devcontainer:

  script:

    - tar cvfz dot_devcontainer.tar.gz -C vscode_devcontainer .devcontainer/

  artifacts:

    paths:

      - dot_devcontainer.tar.gz

    expire_in: 1 year

  tags:

    - docker



.simple_ros_test:

  variables:

    TEMPLATES_PIPELINE_REF: $CI_COMMIT_REF_NAME

  trigger:

    project: tecnalia_robotics/ci_test_repos/simple_ros_test

    strategy: depend



simple_ros_noetic_test:

  extends: .simple_ros_test

  variables:

    TEMPLATE_TO_USE: ci-templates/auto-rules/noetic-default.yml



simple_ros_core_with_noetic_test:

  extends: .simple_ros_test

  variables:

    TEMPLATE_TO_USE: test/core_with_noetic.yml

.gitlab-industrial-ci-kinetic-no-rosinstall.yml

+3 −111
Original line number Diff line number Diff line 
image: docker:git



variables:

  TMPDIR: "/builds/${CI_PROJECT_NAMESPACE}"

  GIT_LFS_SKIP_SMUDGE: "1" # Avoid fetching the files from LFS when doing git fetch



services:

  - docker:dind



stages:

  - precheck

  - build

  - postcheck



before_script:

  - apk add --update bash coreutils tar wget python



.industrial_ci_kinetic:

  stage: build

  before_script:

    - apk add --update bash coreutils tar

    - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config

    - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}

  script: .ci_config/gitlab.sh

  variables:

    ADDITIONAL_DEBS: curl

    ROS_DISTRO: kinetic

    ROS_PARALLEL_JOBS: "-j2" # keep this for now, since there seems to be memory limit issues in the ci VM

    DOCKER_IMAGE: "${ARTIFACT_DOCKER_URL}/flexbotics-base-devel"

    BEFORE_SCRIPT: "bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$CATKIN_WORKSPACE"

    CATKIN_CONFIG: '--cmake-args -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context --'

  when: always



industrial_ci_kinetic:

  extends: .industrial_ci_kinetic

  except:

    - tags



industrial_ci_kinetic_deploy:

  extends: .industrial_ci_kinetic

  variables:

    AFTER_SCRIPT: "wget -q -O - https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/pre-deploy-cleanup.bash | bash"

    DOCKER_COMMIT: industrial_ci_image

  script:

    - .ci_config/gitlab.sh

    - cd $(mktemp -d)

    - wget https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/-/archive/master/gitlab_templates-master.zip

    - unzip gitlab_templates-master.zip && cd gitlab_templates-master/deploy

    - cd base

    - chmod a+x ros_entrypoint.bash

    - docker build -t ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME} .

    - docker push ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME}

    - cd ..

    - cd dev

    - docker build --build-arg APPLICATION_IMAGE=${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME} -t ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME}-dev .

    - docker push ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME}-dev

    - cd ..

  only:

    - tags



##########################################################

## Simple check for basic Python syntax errors; this is much less thorough than

## other options like pylint, but much faster and less strict

##########################################################

python_syntax:

  stage: precheck

  script: python -m compileall -q .

  when: always



##########################################################

## Check for errors in bash/sh scripts

## Uses https://github.com/cytopia/awesome-ci

##########################################################

bash_syntax:

  stage: postcheck

  script:

    - RET=0

    - docker run -v ${PWD}:/ac cytopia/awesome-ci syntax-sh --path=/ac --extension=sh --ignore=.ci_config || RET=1

    - docker run -v ${PWD}:/ac cytopia/awesome-ci syntax-bash --path=/ac --extension=bash --ignore=.ci_config || RET=1

    - exit $RET

  allow_failure: yes

  when: always



##########################################################

## Check for errors in markdown files

## Uses https://github.com/cytopia/awesome-ci

## Disables the line length rule with --custom="-r ..."

## See other rules that can be configured in

## https://github.com/markdownlint/markdownlint/blob/master/docs/RULES.md

##########################################################

markdown_syntax:

  stage: postcheck

  script: docker run -v ${PWD}:/ac cytopia/awesome-ci syntax-markdown --path=/ac --extension=md --ignore=.ci_config --custom="-r ~MD013"

  allow_failure: yes

  when: always



##########################################################

## Check for various syntax issues in files; currently

##  trailing white spaces

##  utf8 formatting

## Uses https://github.com/cytopia/awesome-ci

##########################################################

file_syntax:

  stage: postcheck

  script:

    - RET=0

    - docker run -v ${PWD}:/ac cytopia/awesome-ci file-trailing-space --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1

    - docker run -v ${PWD}:/ac cytopia/awesome-ci file-utf8 --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1

    - exit $RET

  allow_failure: yes

  when: always
 
include:

  - project: tecnalia_robotics-public/gitlab_templates

    file: ci-templates/auto-rules/kinetic-default.yml

.gitlab-industrial-ci-kinetic-with-rosinstall.yml

+3 −113
Original line number Diff line number Diff line 
image: docker:git



variables:

  TMPDIR: "/builds/${CI_PROJECT_NAMESPACE}"

  GIT_LFS_SKIP_SMUDGE: "1" # Avoid fetching the files from LFS when doing git fetch



services:

  - docker:dind



stages:

  - precheck

  - build

  - postcheck



before_script:

  - apk add --update bash coreutils tar wget python



.industrial_ci_kinetic:

  stage: build

  before_script:

    - apk add --update bash coreutils tar

    - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config

    - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}

  script: .ci_config/gitlab.sh

  variables:

    ADDITIONAL_DEBS: curl

    ROS_DISTRO: kinetic

    ROS_PARALLEL_JOBS: "-j2" # keep this for now, since there seems to be memory limit issues in the ci VM

    UPSTREAM_WORKSPACE: file

    ROSINSTALL_FILENAME: ".rosinstall"

    DOCKER_IMAGE: "${ARTIFACT_DOCKER_URL}/flexbotics-base-devel"

    BEFORE_SCRIPT: "bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$CATKIN_WORKSPACE"

    CATKIN_CONFIG: '--cmake-args -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context --'

  when: always



industrial_ci_kinetic:

  extends: .industrial_ci_kinetic

  except:

    - tags



industrial_ci_kinetic_deploy:

  extends: .industrial_ci_kinetic

  variables:

    AFTER_SCRIPT: "wget -q -O - https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/pre-deploy-cleanup.bash | bash"

    DOCKER_COMMIT: industrial_ci_image

  script:

    - .ci_config/gitlab.sh

    - cd $(mktemp -d)

    - wget https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/-/archive/master/gitlab_templates-master.zip

    - unzip gitlab_templates-master.zip && cd gitlab_templates-master/deploy

    - cd base

    - chmod a+x ros_entrypoint.bash

    - docker build -t ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME} .

    - docker push ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME}

    - cd ..

    - cd dev

    - docker build --build-arg APPLICATION_IMAGE=${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME} -t ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME}-dev .

    - docker push ${ARTIFACT_DOCKER_URL}/${CI_PROJECT_NAME}:${CI_COMMIT_REF_NAME}-dev

    - cd ..

  only:

    - tags



##########################################################

## Simple check for basic Python syntax errors; this is much less thorough than

## other options like pylint, but much faster and less strict

##########################################################

python_syntax:

  stage: precheck

  script: python -m compileall -q .

  when: always



##########################################################

## Check for errors in bash/sh scripts

## Uses https://github.com/cytopia/awesome-ci

##########################################################

bash_syntax:

  stage: postcheck

  script:

    - RET=0

    - docker run -v ${PWD}:/ac cytopia/awesome-ci syntax-sh --path=/ac --extension=sh --ignore=.ci_config || RET=1

    - docker run -v ${PWD}:/ac cytopia/awesome-ci syntax-bash --path=/ac --extension=bash --ignore=.ci_config || RET=1

    - exit $RET

  allow_failure: yes

  when: always



##########################################################

## Check for errors in markdown files

## Uses https://github.com/cytopia/awesome-ci

## Disables the line length rule with --custom="-r ..."

## See other rules that can be configured in

## https://github.com/markdownlint/markdownlint/blob/master/docs/RULES.md

##########################################################

markdown_syntax:

  stage: postcheck

  script: docker run -v ${PWD}:/ac cytopia/awesome-ci syntax-markdown --path=/ac --extension=md --ignore=.ci_config --custom="-r ~MD013"

  allow_failure: yes

  when: always



##########################################################

## Check for various syntax issues in files; currently

##  trailing white spaces

##  utf8 formatting

## Uses https://github.com/cytopia/awesome-ci

##########################################################

file_syntax:

  stage: postcheck

  script:

    - RET=0

    - docker run -v ${PWD}:/ac cytopia/awesome-ci file-trailing-space --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1

    - docker run -v ${PWD}:/ac cytopia/awesome-ci file-utf8 --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1

    - exit $RET

  allow_failure: yes

  when: always
 
include:

  - project: tecnalia_robotics-public/gitlab_templates

    file: ci-templates/auto-rules/with-rosinstall/kinetic-default.yml

.gitlab-industrial-ci.yml

deleted100644 → 0
+0 −21
Original line number Diff line number Diff line 
image: docker:git



variables:

  TMPDIR: "${CI_PROJECT_DIR}.tmp"



services:

  - docker:dind



stages:

  - build



before_script:

  - apk add --update bash coreutils tar wget

  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config



industrial_ci_kinetic:

  stage: build

  script: .ci_config/gitlab.sh

  variables:

    ROS_DISTRO: kinetic

    ROS_PARALLEL_JOBS: "-j1" # keep this for now, since there seems to be memory limit issues in the ci VM

.yamllint

0 → 100644
+4 −0
Original line number Diff line number Diff line 
extends: relaxed



rules:

  line-length: disable

README.adoc

+2 −32
Original line number Diff line number Diff line 
= GitLab Templates

:toc:



This repository contains miscellaneous resources that need to be accessible without authentication.



== GitLab CI templates



Two templates with default CI pipeline configurations are provided, for any repo to make use of:



- `.gitlab-industrial-ci-kinetic-no-rosinstall.yml`

- `.gitlab-industrial-ci-kinetic-with-rosinstall.yml`



Both define basically the same pipeline, consisting of the following stages and jobs:



- Stage: `precheck`

  * Check python syntax

- Stage: `build`

  * Run `industrial_ci`

    ** Uses `flexbotics-base-devel` as a starting image

    ** Runs link:scripts/ci_run_entry_points.sh[] in the `BEFORE_SCRIPT` stage, which in turn finds and runs every `ci_entry_script.bash` script found in the source tree (target repo + repos from `.rosinstall`)

  * Only when tags are pushed:

    ** Run some cleanup in the `industrial_ci` context (e.g. delete sources)

    ** Commit image used by `industrial_ci`

    ** Build deployment image on top of it and push it to our registry

- Stage: `postcheck` (jobs in this stage are allowed to fail)

  * Check `bash`/`sh` script syntax

  * Check Markdown syntax

  * Check files have no trailing whitespace and are UTF-8 encoded



It is important to note that both images set the variable `GIT_LFS_SKIP_SMUDGE`, which means that when the repositories are cloned/fetched, the files hosted using Git LFS will not be downloaded. An example on how to explicitely fetch the files from LFS can be found in the https://git.code.tecnalia.com/tecnalia_robotics/common_config/blob/e93dbe6379d94e6a895a33c59bf17ccab26eacf9/.gitlab-ci.yml#L132[common_config repository].

include::ci-templates/README.adoc[leveloffset=+1]



== Custom `rosdep` definitions



Custom `rosdep` definitions for the packages hosted in our internal debian repository are declared in link:rosdistro/rosdep_tecnalia.yaml[].
 


== Deployment image build resources



Resources required for building the deployment docker images are also hosted in this repository.

This basically boils down to:



- link:scripts/pre-deploy-cleanup.bash[] is run in the `industrial_ci` container before commiting to an image

- link:deploy/Dockerfile[] is used to perform some additional cleanup and install link:deploy/ros_entrypoint.bash[] as entrypoint script on top of the `industrial_ci` image

ci-templates/README.adoc

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+64 −0
Original line number Diff line number Diff line 


= GitLab CI templates



Templates for GitLab Continuous Integration are provided in the folder link:ci-templates[]. These can be included from any repo by using `include:project`:



```yml

include::examples/simple_include.yml[]

```



== Core Pipeline

The Core pipeline, defined in link:ci-templates/core.yml[], has the following structure:



- Stage: `build`

  * Check python syntax

  * `.industrial_ci` template (see https://github.com/ros-industrial/industrial_ci[the industrial_ci repo]), which can be used to define jobs that build `ROS` packages

    ** Needs the `ROS_DISTRO` variable to be defined

    ** If the package has `.rosinstall` dependencies, they can be installed using the variable `UPSTREAM_WORKSPACE`

    ** Uses `flexbotics-base-devel:${ROS_DISTRO}` as a starting image

    ** Runs link:scripts/ci_run_entry_points.sh[] in the `AFTER_SETUP_TARGET_WORKSPACE` stage, which in turn finds and runs every `ci_entry_script.bash` script found in the target repo.

- Stage: `deploy`

  * `.ddeploy` template (see https://git.code.tecnalia.dev/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy[the ddeploy repo]), which:

    ** Is run automatically for tags, but can also be run manually on normal commits

    ** Calls `ddeploy` to generate the docker image

    ** Renames the image created by ddeploy with different tags and pushes them to the registry.

    *** Tag `${COMMIT_SHA}` (hash of commit)

    *** Tag `${CI_COMMIT_REF_NAME}` (branch or tag name)

    *** Tag `latest` only on the default branch

- Stage: `.post`

  * Check `bash`/`sh` script syntax

  * Check Markdown and AsciiDoc syntax

  * Check files have no trailing whitespace and are `UTF-8` encoded

  * Check that `C++` files follow this link:clang-format[]





== Manual Jobs



Using the templates defined by the core pipeline, one can easily define jobs to build the packages in the repo.



```yml

include::examples/manual_job.yml[]

```



More examples can be found in link:ci-templates/examples[].



== Auto Rules

In the link:ci-templates/auto-rules[] folder, automatic pipelines are defined that will try to detect the ROS distro from the branch name and create jobs.

For example, if the branch starts with `noetic-` it will build for noetic.

If the branch doesn't start with any ROS distro, it will build the default distro, which can be specified with the variable `DEFAULT_DISTRO`.

For convenience, some templates are provided that already set this variable.

If your repo needs to uses `.rosinstall`, you can use the templates in the link:ci-templates/auto-rules/with-rosinstall[] folder.



The auto rules also allow for using variables to explicitely activate each job:



```yml

include::examples/build_vars.yml[]

```



If a `ddeploy.yaml` file exists, the auto-rules will add a job extending the `.ddeploy` template defined



== LFS

By default, lfs files are not downloaded. If you need to add LFS, include the link:ci-templates/lfs-pull.yml[] along with anything else:

```yml

include::examples/include_lfs.yml[]

```
 
 No newline at end of file

ci-templates/auto-rules/no-default.yml

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Original line number Diff line number Diff line 
include: ci-templates/core.yml



workflow:

  rules:

    - if: $CI_COMMIT_REF_NAME =~ /^kinetic-.*/

      variables:

        DEFAULT_DISTRO: "kinetic"

    - if: $CI_COMMIT_REF_NAME =~ /^melodic-.*/

      variables:

        DEFAULT_DISTRO: "melodic"

    - if: $CI_COMMIT_REF_NAME =~ /^noetic-.*/

      variables:

        DEFAULT_DISTRO: "noetic"

    - if: $CI_COMMIT_REF_NAME =~ /^humble-.*/

      variables:

        DEFAULT_DISTRO: "humble"

    - if: $CI_COMMIT_REF_NAME =~ /^jazzy-.*/

      variables:

        DEFAULT_DISTRO: "jazzy"

    - if: $CI_COMMIT_REF_NAME =~ /^rolling-.*/

      variables:

        DEFAULT_DISTRO: "rolling"

    - if: $CI_COMMIT_TAG

    - if: $CI_COMMIT_BRANCH



industrial_ci_kinetic:

  extends: .industrial_ci

  variables:

    ROS_DISTRO: kinetic

  rules:

    - if: $DEFAULT_DISTRO == "kinetic"

    - if: $BUILD_KINETIC



industrial_ci_melodic:

  extends: .industrial_ci

  variables:

    ROS_DISTRO: melodic

  rules:

    - if: $DEFAULT_DISTRO == "melodic"

    - if: $BUILD_MELODIC



industrial_ci_noetic:

  extends: .industrial_ci

  variables:

    ROS_DISTRO: noetic

  rules:

    - if: $DEFAULT_DISTRO == "noetic"

    - if: $BUILD_NOETIC



industrial_ci_humble:

  extends: .industrial_ci

  variables:

    ROS_DISTRO: humble

  rules:

    - if: $DEFAULT_DISTRO == "humble"

    - if: $BUILD_HUMBLE



industrial_ci_jazzy:

  extends: .industrial_ci

  variables:

    ROS_DISTRO: jazzy

  rules:

    - if: $DEFAULT_DISTRO == "jazzy"

    - if: $BUILD_JAZZY



industrial_ci_rolling:

  extends: .industrial_ci

  variables:

    ROS_DISTRO: rolling

  rules:

    - if: $DEFAULT_DISTRO == "rolling"

    - if: $BUILD_ROLLING



.py3_rules:

  rules:

    - if: $DEFAULT_DISTRO == "noetic"

      when: always

    - if: $BUILD_NOETIC

      when: always

    - if: $DEFAULT_DISTRO == "humble"

      when: always

    - if: $BUILD_HUMBLE

      when: always

    - if: $DEFAULT_DISTRO == "jazzy"

      when: always

    - if: $BUILD_JAZZY

      when: always

    - if: $DEFAULT_DISTRO == "rolling"

      when: always

    - if: $BUILD_ROLLING

      when: always



py3-flake8:

  extends:

    - .py3_rules

    - .py3-flake8



py3-flake8_extended:

  extends:

    - .py3_rules

    - .py3-flake8_extended



py3-security:

  extends:

    - .py3_rules

    - .py3-security



.py2_rules:

  rules:

    - if: $DEFAULT_DISTRO == "kinetic"

      when: always

    - if: $BUILD_KINETIC

      when: always

    - if: $DEFAULT_DISTRO == "melodic"

      when: always

    - if: $BUILD_MELODIC

      when: always



py2-flake8:

  extends:

    - .py2_rules

    - .py2-flake8



ddeploy:

  extends: .ddeploy

  rules:

    - if: $CI_COMMIT_TAG

      exists:

        - ddeploy.yaml

      when: always

    - exists:

        - ddeploy.yaml

      when: manual

      allow_failure: true

ci-templates/core.yml

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+25 −0
Original line number Diff line number Diff line 
image: tecnalia-docker-dev.artifact.tecnalia.dev/docker:git





workflow:

  rules:

    - if: $CI_COMMIT_TAG

    - if: $CI_COMMIT_BRANCH



variables:

  TMPDIR: /builds/${CI_PROJECT_NAMESPACE}

  GIT_LFS_SKIP_SMUDGE: 1 # Avoid fetching the files from LFS when doing git fetch





stages:

  - build

  - deploy



include:

  - ci-templates/syntax-check.yml

  - ci-templates/python.yml

  - ci-templates/industrial-ci-templates.yml



default:

  tags:

    - docker

ci-templates/examples/build_vars.yml

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Original line number Diff line number Diff line 
include:

  - project: tecnalia_robotics-public/gitlab_templates

    file: ci-templates/auto-rules/no-default.yml



variables:

  BUILD_KINETIC: 1

  BUILD_MELODIC: 1

  BUILD_NOETIC: 1

ci-templates/examples/include_lfs.yml

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include:

  - project: tecnalia_robotics-public/gitlab_templates

    file:

      - ci-templates/auto-rules/kinetic-default.yml

      - ci-templates/lfs-pull.yml

ci-templates/examples/manual_job.yml

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include:

  - project: tecnalia_robotics-public/gitlab_templates

    file: ci-templates/core.yml



industrial_ci_kinetic:

  extends: .industrial_ci

  variables:

    ROS_DISTRO: kinetic

    UPSTREAM_WORKSPACE: .rosinstall

ci-templates/examples/simple_include.yml

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include:

  - project: tecnalia_robotics-public/gitlab_templates

    file: ci-templates/core.yml

ci-templates/industrial-ci-templates.yml

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variables:

  GITLAB_TEMPLATES_BRANCH: master

  INDUSTRIAL_CI_URL: https://github.com/ros-industrial/industrial_ci.git

  INDUSTRIAL_CI_BRANCH: master



.industrial_ci:

  stage: build

  services:

    - name: tecnalia-docker-dev.artifact.tecnalia.dev/docker:dind

      alias: docker

  before_script:

    - apk add --update bash coreutils tar

    - git clone --quiet --depth 1 ${INDUSTRIAL_CI_URL} -b ${INDUSTRIAL_CI_BRANCH} .ci_config

    - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}

    - docker login tecnalia-docker-dev.artifact.tecnalia.dev -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}

  script: .ci_config/gitlab.sh

  variables:

    DOCKER_IMAGE: "${ARTIFACT_DOCKER_URL}/flexbotics-base-devel:${ROS_DISTRO}"

    ADDITIONAL_DEBS: curl

    PARALLEL_BUILDS: 2 # keep this for now, since there seems to be memory limit issues in the ci VM

    AFTER_SETUP_TARGET_WORKSPACE: "rosenv && bash <(curl -Ls https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/ci_run_entry_points.sh) $$current_ws"

    CMAKE_ARGS: -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context -Wno-dev

    PIP_BREAK_SYSTEM_PACKAGES: "1" # needed for jazzy, https://github.com/ros-industrial/industrial_ci/pull/885/files





.ddeploy:

  stage: deploy

  services:

  - name: tecnalia-docker-dev.artifact.tecnalia.dev/docker:dind

    alias: docker

  variables:

    DOCKER_PUSH_REGISTRY: ${ARTIFACT_DOCKER_URL}

    DOCKER_PUSH_NAME: ${CI_PROJECT_PATH}

    DOCKER_PUSH_TAG: ${CI_COMMIT_REF_NAME}

    DOCKER_PUSH_USER: ${ARTIFACT_CI_USER}

    DOCKER_PUSH_TOKEN: ${ARTIFACT_CI_TOKEN}

    DDEPLOY_YAML: ddeploy.yaml

  before_script:

    - apk add --update python3 git py3-pip git-lfs bash curl jq

    # forward the SSH authentication into the Docker executor

    - "which ssh-agent || ( apk update && apk add openssh-client )"

    - eval $(ssh-agent -s)

    - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null

    - mkdir -p ~/.ssh

    - echo "$SSH_SERVER_HOSTKEYS" > ~/.ssh/known_hosts

    - chmod 700 ~/.ssh

    # setup LFS authentication

    - git lfs install

    - git config --global credential.helper store

    - echo https://$ARTIFACT_CI_USER:$ARTIFACT_CI_TOKEN@artifact.tecnalia.dev > ~/.git-credentials

    - find . -type f -name .lfsconfig -exec sh -c 'cd "$(dirname "{}")" && git lfs pull' \;

    - find . -type f -name .lfsconfig -exec sh -c 'cd "$(dirname "{}")" && git lfs ls-files' \;

    # install ddeploy

    - pip install --break-system-packages git+ssh://git@git.code.tecnalia.dev/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy.git@v0.2.0

    - echo "Logging into docker registry ${ARTIFACT_DOCKER_URL} for user ${ARTIFACT_CI_USER}"

    - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}

    - echo "Logging into docker registry ${DOCKER_PUSH_REGISTRY} for user ${DOCKER_PUSH_USER}"

    - docker login ${DOCKER_PUSH_REGISTRY} -u ${DOCKER_PUSH_USER} -p ${DOCKER_PUSH_TOKEN}

  script:

    # Run ddeploy

    - GIT_LFS_SKIP_SMUDGE=0 ddeploy --yaml ${DDEPLOY_YAML}

    # Get the full name of the most recently built image

    - 'DDEPLOY_IMAGE_NAME=$(docker images --format="{{.Repository}}:{{.Tag}}" | head -1)'

    - curl -Ls https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/enforce_labels.bash | bash -s -- ${DDEPLOY_IMAGE_NAME}

    # Tag and push with the branch or tag name.

    - echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}"

    - docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}

    - docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${DOCKER_PUSH_TAG}

    # Tag and push with commit sha

    - echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}"

    - docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}

    - docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:${CI_COMMIT_SHA}

    # Tag and push with latest only if it's on the default branch

    - >

      if [ "$CI_COMMIT_BRANCH" == "$CI_DEFAULT_BRANCH" ]; then

        echo "Pushing to ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest"

        docker tag ${DDEPLOY_IMAGE_NAME} ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest &&

        docker push ${DOCKER_PUSH_REGISTRY}/${DOCKER_PUSH_NAME}:latest;

      fi

  rules:

    - if: $CI_COMMIT_TAG

      when: always

    - when: manual

      allow_failure: true

ci-templates/lfs-pull.yml

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.lfs-pull-script: &lfs-pull-script

  "find $$current_ws -type f -name .lfsconfig -execdir git lfs pull \\; ;\

   find $$current_ws -type f -name .lfsconfig -execdir git lfs ls-files \\; ;"



.industrial_ci:

  variables:

    AFTER_INIT: "bash <(curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh);\

                apt install -qq -y git-lfs; \

                git config --global credential.helper store; \

                echo https://$ARTIFACT_CI_USER:$ARTIFACT_CI_TOKEN@artifact.tecnalia.dev > ~/.git-credentials ;"

    BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: *lfs-pull-script

    BEFORE_INSTALL_TARGET_DEPENDENCIES: *lfs-pull-script

    BEFORE_INSTALL_DOWNSTREAM_DEPENDENCIES: *lfs-pull-script

ci-templates/python.yml

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.flake8_template:

  stage: build

  before_script: ${PYTHON_VERSION} -m pip -q install flake8

  script:

    - find . -type f -executable ! -name "*.*" -exec awk ' /^#!.*python/{print FILENAME}  {nextfile}' {} + > /tmp/python_files # python files with no extension but with shebang

    - find . -type f -name "*.py" >> /tmp/python_files

    - sort /tmp/python_files | uniq | xargs ${PYTHON_VERSION} -m flake8 --max-line-length 120 --statistics --show-source



.flake8_extended_template:

  extends: .flake8_template

  stage: .post

  before_script:

    - ${PYTHON_VERSION} -m pip install flake8 flake8-isort flake8-builtins flake8-eradicate flake8-functions-names flake8-return flake8-functions

  allow_failure: true



.security_template:

  stage: .post

  before_script:

    - ${PYTHON_VERSION} -m pip install bandit

  script:

    - bandit -r .

  allow_failure: true



.py3_template:

  image: python:3-alpine

  variables:

    PYTHON_VERSION: python3



.py2_template:

  image: python:2-alpine

  variables:

    PYTHON_VERSION: python2



.py3-flake8:

  extends:

    - .flake8_template

    - .py3_template



.py2-flake8:

  extends:

    - .flake8_template

    - .py2_template



.py3-flake8_extended:

  extends:

    - .flake8_extended_template

    - .py3_template



.py3-security:

  extends:

    - .security_template

    - .py3_template

ci-templates/syntax-check.yml

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variables:

  GITLAB_TEMPLATES_BRANCH: master



##########################################################

## Check formating of C and C++ files using clang-format

##########################################################

clang_format:

  stage: .post

  services:

    - name: tecnalia-docker-dev.artifact.tecnalia.dev/docker:dind

      alias: docker

  before_script:

    - apk add --update bash coreutils tar wget

    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config

    - wget https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/clang-format -O .clang-format

  script: .ci_config/gitlab.sh

  variables:

    ROS_DISTRO: noetic

    CLANG_FORMAT_CHECK: file

    CLANG_FORMAT_VERSION: 18

  when: always



##########################################################

## Check for errors in bash/sh scripts

## Uses https://github.com/koalaman/shellcheck

##########################################################

bash_syntax:

  before_script:

    - apk add --update shellcheck

  stage: .post

  script:

    - RET=0

    - find . -type f -name '*.sh' -exec shellcheck -s sh {} + || RET=1

    - find . -type f -name '*.bash' -exec shellcheck -s bash {} + || RET=1

    - exit $RET

  when: always



##########################################################

## Check for errors in markdown files

## Uses https://github.com/cytopia/awesome-ci

## Disables the line length rule with --custom="-r ..."

## See other rules that can be configured in

## https://github.com/markdownlint/markdownlint/blob/master/docs/RULES.md

##########################################################

markdown_syntax:

  stage: .post

  image: tecnalia-docker-dev.artifact.tecnalia.dev/cytopia/awesome-ci

  script:

    - syntax-markdown --path=${PWD} --extension=md --ignore=.ci_config --custom="-r ~MD013,~MD014"

  when: always



##########################################################

## Check for various syntax issues in files; currently

##  trailing white spaces

##  utf8 formatting

## Uses https://github.com/cytopia/awesome-ci

##########################################################

file_syntax:

  stage: .post

  image: tecnalia-docker-dev.artifact.tecnalia.dev/cytopia/awesome-ci

  script:

    - RET=0

    - file-trailing-space --path=${PWD} --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1

    - file-utf8 --path=${PWD} --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1

    - exit $RET

  when: always



##########################################################

## Check for errors in Asciidoctor files

## Could not find a proper linter for Asciidoctor format,

## so this is a custom-made "dirty" script

##########################################################

adoc_syntax:

  stage: .post

  image: tecnalia-docker-dev.artifact.tecnalia.dev/alpine

  before_script:

    - apk add --update curl asciidoctor bash

  script:

    - curl -Ls https://git.code.tecnalia.dev/tecnalia_robotics-public/gitlab_templates/raw/${GITLAB_TEMPLATES_BRANCH}/scripts/asciidoctor_syntax_check.bash | bash -s -- .

  when: always

clang-format

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---

# Format file from: https://github.com/PickNikRobotics/roscpp_code_format (75a84b075d648828b7aa64094699e5ab5cc7adb7)

BasedOnStyle: Google

AccessModifierOffset: -2

ConstructorInitializerIndentWidth: 2

AlignEscapedNewlinesLeft: false

AlignTrailingComments: true

AllowAllParametersOfDeclarationOnNextLine: false

AllowShortIfStatementsOnASingleLine: false

AllowShortLoopsOnASingleLine: false

AllowShortFunctionsOnASingleLine: None

AlwaysBreakTemplateDeclarations: true

AlwaysBreakBeforeMultilineStrings: true

BreakBeforeBinaryOperators: false

BreakBeforeTernaryOperators: false

BreakConstructorInitializersBeforeComma: true

BinPackParameters: true

ColumnLimit: 120

ConstructorInitializerAllOnOneLineOrOnePerLine: true

DerivePointerBinding: false

PointerBindsToType: true

ExperimentalAutoDetectBinPacking: false

IndentCaseLabels: true

MaxEmptyLinesToKeep: 1

NamespaceIndentation: None

ObjCSpaceBeforeProtocolList: true

PenaltyBreakBeforeFirstCallParameter: 19

PenaltyBreakComment: 60

PenaltyBreakString: 1

PenaltyBreakFirstLessLess: 1000

PenaltyExcessCharacter: 1000

PenaltyReturnTypeOnItsOwnLine: 90

SpacesBeforeTrailingComments: 2

Cpp11BracedListStyle: false

Standard: Auto

IndentWidth: 2

TabWidth: 2

UseTab: Never

IndentFunctionDeclarationAfterType: false

SpacesInParentheses: false

SpacesInAngles: false

SpaceInEmptyParentheses: false

SpacesInCStyleCastParentheses: false

SpaceAfterControlStatementKeyword: true

SpaceBeforeAssignmentOperators: true

ContinuationIndentWidth: 4

SortIncludes: false

SpaceAfterCStyleCast: false



# Configure each individual brace in BraceWrapping

BreakBeforeBraces: Custom



# Control of individual brace wrapping cases

BraceWrapping:

    AfterClass: true

    AfterControlStatement: true

    AfterEnum : true

    AfterFunction : true

    AfterNamespace : true

    AfterStruct : true

    AfterUnion : true

    BeforeCatch : true

    BeforeElse : true

    IndentBraces : false

...

deploy/base/Dockerfile

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Original line number Diff line number Diff line 
FROM industrial_ci_image



RUN rm -rf /root/ici /root/src



RUN apt-get update -qq && apt-get install -y -qq \

  ros-kinetic-rosbash \

  && rm -rf /var/lib/apt/lists/*



COPY ./ros_entrypoint.bash /



ENTRYPOINT ["/ros_entrypoint.bash"]

CMD ["bash"]

deploy/base/ros_entrypoint.bash

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+0 −6
Original line number Diff line number Diff line 
#!/bin/bash

set -e



# setup application environment

source "/root/catkin_ws/install/setup.bash"

exec "$@"

deploy/dev/Dockerfile

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+0 −24
Original line number Diff line number Diff line 
ARG APPLICATION_IMAGE

FROM ${APPLICATION_IMAGE}



RUN apt-get update -qq && apt-get install -y -qq \

  apt-transport-https \

  curl \

  libasound2



RUN curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > microsoft.gpg \

  && mv microsoft.gpg /etc/apt/trusted.gpg.d/microsoft.gpg \

  && sh -c 'echo "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list'



RUN apt-get update -qq && apt-get install -y -qq \

  code



RUN echo "alias code='code --user-data-dir /root'" >> /root/.bashrc



RUN code --user-data-dir /root \

  --install-extension ajshort.ros \

  --install-extension joaompinto.asciidoctor-vscode \

  --install-extension ms-python.python \

  --install-extension ms-vscode.cpptools \

  --install-extension peterjausovec.vscode-docker \

  --install-extension twxs.cmake

rosdistro/rosdep_tecnalia.yaml

+96 −70
Original line number Diff line number Diff line 
apriltag:

  ubuntu:

    xenial: [apriltag]



cvkit:

  ubuntu:

    xenial: [cvkit]



dynamixel:

  ubuntu: [libdynamixel-dev]



k4a-tools:

  ubuntu:

    focal: [k4a-tools]



libhalcon-dev:

  ubuntu: [libhalcon-dev]



libpcl-1.8.1:

libk4a1.3:

  ubuntu:

    xenial: [libpcl1.8.1]



peak:

  ubuntu: [libpeak-dev]



robotnik_base_hw_lib:

  ubuntu: [ros-kinetic-robotnik-base-hw-lib]

    focal: [libk4a1.3]



telicam-sdk:

  ubuntu: [telicam-sdk]



zivid:

  ubuntu: [zivid]



rccomm_utils:

libk4a1.3-dev:

  ubuntu:

    xenial: [rccomm-utils]

    focal: [libk4a1.3-dev]



rc_parameter_collection_ros_proxy:

libopenvdb_fork_dev:

  ubuntu:

    xenial: [ros-kinetic-rc-parameter-collection-ros-proxy]

    focal: [libopenvdb-fork-dev]



rcimage_smoothing:

libpcl-1.8.1:

  ubuntu:

    xenial: [rcimage-smoothing]

    xenial: [libpcl1.8.1]



rcimagesync:

  ubuntu:

    xenial: [rcimagesync]

libsoundio1:

  ubuntu: [libsoundio1]



cvkit:

libvdbfusion_dev:

  ubuntu:

    xenial: [cvkit]

    focal: [libvdbfusion-dev]



rcconsole:

open3d-ros-helper-pip:

  ubuntu:

    xenial: [rcconsole]

    pip:

      packages: [open3d_ros_helper]



rc_imagesync:

  ubuntu:

    xenial: [ros-kinetic-rc-imagesync]

peak:

  ubuntu: [libpeak-dev]



rcobjectdetection_common:

phoxicontrol:

  ubuntu:

    xenial: [rcobjectdetection-common]

    bionic: [phoxicontrol]

    focal: [phoxicontrol]



rcsys_utils:

rc_apps_msgs:

  ubuntu:

    xenial: [rcsys-utils]

    xenial: [ros-kinetic-rc-apps-msgs]



rcapps_msgs:

rc_bagthrottler:

  ubuntu:

    xenial: [rcapps-msgs]

    xenial: [ros-kinetic-rc-bagthrottler]



rcstatemachine:

rc_comm_utils:

  ubuntu:

    xenial: [rcstatemachine]

    xenial: [ros-kinetic-rc-comm-utils]



rcparameter_collection:

rc_cv_utils:

  ubuntu:

    xenial: [rcparameter-collection]

    xenial: [ros-kinetic-rc-cv-utils]



rc_tagdetection:

rc_diagnostic:

  ubuntu:

    xenial: [ros-kinetic-rc-tagdetection]

    xenial: [ros-kinetic-rc-diagnostic]



rc_comm_utils:

rc_dynamics_api:

  ubuntu:

    xenial: [ros-kinetic-rc-comm-utils]

    xenial: [ros-kinetic-rc-dynamics-api]



rc_genicam_api:

  ubuntu:

    xenial: [ros-kinetic-rc-genicam-api]



rcimage:

rc_imagesync:

  ubuntu:

    xenial: [rcimage]

    xenial: [ros-kinetic-rc-imagesync]



rc_bagthrottler:

rc_parameter_collection_ros_proxy:

  ubuntu:

    xenial: [ros-kinetic-rc-bagthrottler]

    xenial: [ros-kinetic-rc-parameter-collection-ros-proxy]



rc_statemachine:

  ubuntu:

    xenial: [ros-kinetic-rc-statemachine]



rc_visard_driver:

  ubuntu:

    xenial: [ros-kinetic-rc-visard-driver]



rctagdetection:

rcapps_msgs:

  ubuntu:

    xenial: [rctagdetection]

    xenial: [rcapps-msgs]



rc_objectdetection_shape:

rccomm_utils:

  ubuntu:

    xenial: [ros-kinetic-rc-objectdetection-shape]

    xenial: [rccomm-utils]



rc_statemachine:

rcconsole:

  ubuntu:

    xenial: [ros-kinetic-rc-statemachine]

    xenial: [rcconsole]



apriltag:

rcimage:

  ubuntu:

    xenial: [apriltag]

    xenial: [rcimage]



rc_dynamics_api:

rcimage_smoothing:

  ubuntu:

    xenial: [ros-kinetic-rc-dynamics-api]

    xenial: [rcimage-smoothing]



rc_dynamics_api:

rcimagesync:

  ubuntu:

    xenial: [rc-dynamics-api]

    xenial: [rcimagesync]



rc_apps_msgs:

rcobjectdetection_common:

  ubuntu:

    xenial: [ros-kinetic-rc-apps-msgs]

    xenial: [rcobjectdetection-common]



rc_genicam_api:

rcobjectdetection_shape_thomas:

  ubuntu:

    xenial: [rc-genicam-api]

    xenial: [rcobjectdetection-shape-thomas]



rcobjectrendering:

  ubuntu:

    xenial: [rcobjectrendering]



rc_diagnostic:

rcparameter_collection:

  ubuntu:

    xenial: [ros-kinetic-rc-diagnostic]

    xenial: [rcparameter-collection]



rcobjectdetection_shape_thomas:

rcstatemachine:

  ubuntu:

    xenial: [rcobjectdetection-shape-thomas]

    xenial: [rcstatemachine]



rc_cv_utils:

rcsys_utils:

  ubuntu:

    xenial: [ros-kinetic-rc-cv-utils]
 
    xenial: [rcsys-utils]



rctagdetection:

  ubuntu:

    xenial: [rctagdetection]



robotnik_base_hw_lib:

  ubuntu: [ros-kinetic-robotnik-base-hw-lib]



telicam-1.1.0:

  ubuntu: [libtelicam-sdk-1.1.0]



telicam-sdk:

  ubuntu: [telicam-sdk]



zivid:

  ubuntu: [zivid]



zivid1.8:

  ubuntu: [zivid1.8]



zivid_telicam_driver:

  ubuntu: [zivid-telicam-driver]

scripts/asciidoctor_syntax_check.bash

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#!/bin/bash



if ! [ -x "$(command -v asciidoctor)" ]; then

    echo "Error: asciidoctor is not installed"

    exit 1

fi



if [ -z "$1" ] ; then

    echo "Error: No argument supplied - path needed"

    exit 1

fi



touch output.log # avoid failing if no adoc files exist

while IFS= read -r -d '' filename; do

  asciidoctor "$filename" 2>&1 | tee -a output.log

done < <(find "$1" -name '*.adoc' -type f -print0)

adoc_errors=0 ; adoc_warnings=0

adoc_errors=$(grep -c "ERROR" output.log)

adoc_warnings=$(grep -c "WARNING" output.log)

echo "AsciiDoc format Found ${adoc_errors} errors and ${adoc_warnings} warnings"

if [ "${adoc_errors}" -eq 0 ]; then exit 0; else exit 1; fi

scripts/ci_run_entry_points.sh

+2 −2
Original line number Diff line number Diff line 
#!/bin/bash



echo Looking up and executing user entry scripts in: $1

echo Looking up and executing user entry scripts in: "$1"



find -L $1 -name ci_entry_script.bash -exec bash -c 'echo Running entry script from $(basename $(dirname {})) ; {} ' \;

find -L "$1" -name ci_entry_script.bash -exec bash -c 'echo Running entry script from $(basename $(dirname $1)) ; $1 ' _ {} \;



echo Finalized running the user entry scripts

scripts/enforce_labels.bash

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Original line number Diff line number Diff line 
#!/bin/bash

# From a given list of labels, check which of them are already defined in the provided docker image; if any of the labels

# is not defined, a new image with the same name is generated with the label(s) added.

# Labels already defined are not modified.



if [ "$#" -ne 1 ]; then

    echo "Usage: $0 IMAGE_NAME"

    exit 1

fi



image_name="$1"



# list of labels to be enforced

declare -A enforced_labels=( ["com.jfrog.artifactory.retention.maxCount"]="10" ["com.jfrog.artifactory.retention.maxDays"]="7")



if ! docker inspect --type=image "$1" > /dev/null ; then

    echo "Error: image does not exist"

    exit 0

fi



# check if every label is defined

for label in "${!enforced_labels[@]}" ; do

    if ! docker inspect -f "{{json .Config.Labels }}" "$image_name" | jq -e '.['\""$label"\"']' > /dev/null ; then

        echo "Key not found"

        echo "$label = ${enforced_labels[$label]}"

        # add missing label to the arguments to be provided to `docker build`

        label_args+=" --label $label=\"${enforced_labels[$label]}\""

    fi

done



# generate new image

if [ -n "${label_args+x}" ]; then

    run_command="echo \"FROM $image_name\" | docker build $label_args -t $image_name -"

    eval "$run_command"

fi

scripts/roslaunch_test_generator.sh

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Original line number Diff line number Diff line 
#!/usr/bin/env bash



for foo in $(find $(pwd) -name "package.xml") ; do

  package_name=$(basename $(realpath $(dirname $foo)))

  echo Entering package: $package_name

  cd $(realpath $(dirname $foo))

  if [[ -n $(grep -i "roslaunch_add_file_check" CMakeLists.txt) ]] ; then

    echo Package $package_name already has roslaunch_add_file_check - skipping

# shellcheck disable=SC2044

for foo in $(find "$(pwd)" -name "package.xml") ; do

  package_name=$(basename "$(realpath "$(dirname "$foo")")")

  echo Entering package: "$package_name"

  cd "$(realpath "$(dirname "$foo")")" || exit

  if grep -q -i "roslaunch_add_file_check" CMakeLists.txt; then

    echo Package "$package_name" already has roslaunch_add_file_check - skipping

  else

    if [[ -n $(find . -type f -name "*.launch") ]] ; then

      echo Adding roslaunch_add_file_check to $package_name

      echo Adding roslaunch_add_file_check to "$package_name"

cat <<EOT >> CMakeLists.txt



## WARNING: automatically generated code; can be (and probably is) very buggy

test/core_with_noetic.yml

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include: ci-templates/core.yml



industrial_ci_noetic:

  extends: .industrial_ci

  variables:

    ROS_DISTRO: noetic

vscode_devcontainer/.devcontainer/Dockerfile

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#-------------------------------------------------------------------------------------------------------------

# Copyright (c) Microsoft Corporation. All rights reserved.

# Licensed under the MIT License. See https://go.microsoft.com/fwlink/?linkid=2090316 for license information.

#-------------------------------------------------------------------------------------------------------------



FROM tecnalia-robotics-docker.artifact.tecnalia.dev/flexbotics-base-devel:kinetic



# Avoid warnings by switching to noninteractive

ENV DEBIAN_FRONTEND=noninteractive



# This Dockerfile adds a non-root 'vscode' user with sudo access. However, for Linux,

# this user's GID/UID must match your local user UID/GID to avoid permission issues

# with bind mounts. Update USER_UID / USER_GID if yours is not 1000. See

# https://aka.ms/vscode-remote/containers/non-root-user for details.

ARG USERNAME=vscode

ARG USER_UID=1000

ARG USER_GID=$USER_UID



# Configure apt and install packages

RUN apt-get update \

    && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \

    #

    # Verify git, process tools, lsb-release (common in install instructions for CLIs) installed

    && apt-get -y install git iproute2 procps lsb-release curl \

    && apt install -y git openssh-client python-catkin-tools \

    #

    # Create a non-root user to use if preferred - see https://aka.ms/vscode-remote/containers/non-root-user.

    && groupadd --gid $USER_GID $USERNAME \

    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \

    # [Optional] Add sudo support for the non-root user

    && apt-get install -y sudo \

    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\

    && chmod 0440 /etc/sudoers.d/$USERNAME \

    #

    && rosdep init || true



USER $USERNAME

RUN rosdep update \

    && mkdir -p /home/${USERNAME}/robot_ws/src/



COPY .devcontainer/catkin_ws_init.sh /tmp/



    # Clean up

    # && apt-get autoremove -y \

    # && apt-get clean -y \

    # && rm -rf /var/lib/apt/lists/*



# Switch back to dialog for any ad-hoc use of apt-get

ENV DEBIAN_FRONTEND=

vscode_devcontainer/.devcontainer/catkin_ws_init.sh

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#!/bin/bash



if [[ -z "${ROS_PACKAGE_PATH}" ]]; then

   . $(find /opt/ros/ -name "setup.bash")

fi



if [[ -z "${ROS_DISTRO}" ]]; then

   export ROS_DISTRO=$(basename $(find /opt/ros/* -maxdepth 0 -type d | head -1))

fi



pkg_name=$(basename $(find /workspaces/ -maxdepth 1 -mindepth 1 -type d))

mkdir -p ~/robot_ws/src

cd ~/robot_ws/src

ln -s /workspaces/${pkg_name}

cd ..

wstool init src

if [ -f "src/${pkg_name}/.rosinstall" ]; then

    wstool merge "src/${pkg_name}/.rosinstall" -t src

fi



mkdir -p ~/.ssh/

cat << EOF >> ~/.ssh/config

Host *

     StrictHostKeyChecking no

EOF

wstool update -t src

find -L src -name ci_entry_script.bash -exec bash -c 'echo Running entry script from $(basename $(dirname $1)) ; $1 ' _ {} \;

rosdep update

rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -r -y

catkin init

catkin config --cmake-args -DCMAKE_CXX_FLAGS=-w --



echo "source $(find /opt/ros/ -name 'setup.bash')"  >>  ~/.bashrc

vscode_devcontainer/.devcontainer/devcontainer.json

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// For format details, see https://aka.ms/vscode-remote/devcontainer.json

{

	"name": "flexbotics base kinetic",

	"context": "..",

	"dockerFile": "Dockerfile",



	// Use 'settings' to set *default* container specific settings.json values on container create.

	// You can edit these settings after create using File > Preferences > Settings > Remote.

	"settings": {

		"terminal.integrated.shell.linux": "/bin/bash"

	},



	// Uncomment the next line if you want to publish any ports.

	// "appPort": [],



	// Uncomment the next line to run commands after the container is created.

	"postCreateCommand": "bash /tmp/catkin_ws_init.sh",



	"workspaceFolder": "/home/vscode/robot_ws/src/",



	// Uncomment the next line to use a non-root user. On Linux, this will prevent

	// new files getting created as root, but you may need to update the USER_UID

	// and USER_GID in .devcontainer/Dockerfile to match your user if not 1000.

	"runArgs": [ "-u", "vscode",

		"-v", "${env:SSH_AUTH_SOCK}:/ssh-agent",

		"-e", "SSH_AUTH_SOCK=/ssh-agent",

		"-e", "DISPLAY=${env:DISPLAY}",

		"-v", "/tmp/.X11-unix:/tmp/.X11-unix"

	],



	// Add the IDs of extensions you want installed when the container is created in the array below.

	"extensions": [

		"ms-python.python",

		"ms-iot.vscode-ros"

	]

}

vscode_devcontainer/README.md

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# vscode_devcontainer



.devcontainer configuration for ROS projects
 
 No newline at end of file