name: ros2

on:
  push:
    branches: [ ros2 ]
  pull_request:
    branches: [ ros2 ]
  workflow_dispatch:

env:
  BUILD_TYPE: Release

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

jobs:
  build:
    name: Build ros2 ${{ matrix.ros_distro }}
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distro: [humble, jazzy, kilted, lyrical, rolling]
        include:
        - ros_distro: humble
          skip_keys: ''
          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
        - ros_distro: jazzy
          skip_keys: ''
          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
        - ros_distro: kilted
          skip_keys: 'grid_map_ros'
          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
        - ros_distro: lyrical
          skip_keys: 'velodyne grid_map_ros libpointmatcher find_object_2d'
          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
        - ros_distro: rolling
          # Rolling has moved to Ubuntu resolute and much of it has not been rebuilt for
          # that yet, so rosdep finds nothing to install for these. They are all optional
          # to rtabmap, which just builds without them. nav2 is missing from resolute
          # too: optional to rtabmap_slam (nav2_msgs) and to the demos (nav2_bringup, for
          # the navigation demos only), but not to rtabmap_costmap_plugins, so it and the
          # rtabmap_ros metapackage, which pulls it in, are not built.
          skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros nav2_msgs nav2_bringup nav2_costmap_2d find_object_2d'
          use_ros2_testing: true # Rolling is using ros2-testing (nightly)
          packages: 'rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python rtabmap_launch rtabmap_examples rtabmap_demos'
      fail-fast: false
    timeout-minutes: 180
    container:
      image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
    env:
      # Absolute and inside the container: ${{ github.workspace }} would be the
      # runner's path, not the container's.
      RTABMAP_DEMOS_TEST_DATA: /rtabmap_demos_test_data
      RTABMAP_DEMOS_TEST_RESULTS: /rtabmap_demos_test_results
    steps:
    - uses: actions/checkout@v4
    - uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: ${{ matrix.ros_distro }}
        use-ros2-testing: ${{ matrix.use_ros2_testing || false }}
    - run: |
        DEBIAN_FRONTEND=noninteractive
        sudo apt update
        sudo apt upgrade -y
    - run: |
        echo "repositories:\n  introlab/rtabmap:\n    type: git\n    url: https://github.com/introlab/rtabmap.git\n    version: master\n" > /tmp/deps.repos &&\
        cat /tmp/deps.repos
    # Build only: the tests are run below, the quick ones first, so that a failing unit
    # test shows before the demos' playback, which takes tens of minutes.
    - uses: ros-tooling/action-ros-ci@v0.4
      with:
        package-name: ${{ matrix.packages }}
        target-ros2-distro: ${{ matrix.ros_distro }}
        vcs-repo-file-url: /tmp/deps.repos
        rosdep-skip-keys: "${{ matrix.skip_keys }}"
        skip-tests: true

    - name: Unit tests
      working-directory: ros_ws
      shell: bash
      run: |
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        source install/setup.bash
        colcon test --packages-select ${{ matrix.packages }} \
          --event-handlers console_cohesion+ --ctest-args -E test_demo_playback
        colcon test-result --verbose

    # The demos' playback (rtabmap_demos/test/test_demo_playback.py) replays bags that
    # are assets of the rtabmap_ros GitHub releases, listed with their SHA-256 in
    # rtabmap_demos/test/data/manifest.txt. As rtabmap's own CI does with its test
    # databases (cmake-ros.yml), they are cached between runs, keyed on that manifest
    # only: every distro shares one entry, and a new or changed bag there fetches again.
    - name: Restore test data
      id: cache-testdata
      uses: actions/cache@v4
      with:
        path: /rtabmap_demos_test_data
        key: rtabmap-demos-test-data-${{ hashFiles('rtabmap_demos/test/data/manifest.txt') }}

    - name: Fetch test data
      if: steps.cache-testdata.outputs.cache-hit != 'true'
      shell: bash
      run: bash rtabmap_demos/test/fetch_test_data.sh

    # Without its bag, a scenario skips itself and the step would pass having replayed
    # nothing: check that every bag of the manifest is there.
    - name: Check test data
      shell: bash
      run: |
        missing=0
        while IFS=$'\t' read -r name url sha extracted; do
          [[ -z "${name// }" || "$name" =~ ^# ]] && continue
          file="$RTABMAP_DEMOS_TEST_DATA/${extracted:-$name}"
          if [[ ! -f "$file" ]]; then
            echo "::error::$file is missing (from $url)"
            missing=1
          fi
        done < rtabmap_demos/test/data/manifest.txt
        exit $missing

    # The golden graphs were made with humble: each scenario's tolerances
    # (test_demo_playback.py) absorb small differences between distros.
    - name: Demo playback tests
      working-directory: ros_ws
      shell: bash
      run: |
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        source install/setup.bash
        colcon test --packages-select rtabmap_demos \
          --event-handlers console_cohesion+ --ctest-args -R test_demo_playback
        colcon test-result --verbose --test-result-base build/rtabmap_demos

    # Each scenario's launch log, graph and database, to see what went wrong.
    - name: Upload the playback results
      if: failure()
      uses: actions/upload-artifact@v4
      with:
        name: demo-playback-results-${{ matrix.ros_distro }}
        path: /rtabmap_demos_test_results
        retention-days: 7