Using Travis CI? Take a look at ros-industrial/industrial_ci.

Description

This repository contains helper scripts and instructions on how to use Continuous Integration (CI) for ROS projects hosted on a GitLab instance.

Supported ROS releases (older release should be supported too):

• humble
• jazzy

This repository uses the ROS Docker images to compile your packages, it does not run tests by default.

How to use

Your repository must be hosted on a GitLab instance with CI working and Docker support.

Create a .gitlab-ci.yml that looks like this:

image: ros:jazzy-ros-core

cache:
  paths:
    - ccache/

before_script:
  - apt update >/dev/null && apt install -y git >/dev/null
  - git clone https://gitlab.com/VictorLamoine/ros_gitlab_ci.git >/dev/null
  - source ros_gitlab_ci/gitlab-ci.bash >/dev/null

jazzy:build:
  stage: build
  script:
    - source ros_gitlab_ci/gitlab-ci.bash >/dev/null
    - colcon build --event-handlers console_cohesion+ --packages-up-to package_name

Commit, push to your repository and watch the pipeline! (make sure pipelines are enabled in your project settings).

Useful variables

• DISABLE_CCACHE (false by default), if defined to true: disables ccache gcc output caching.
• USE_ROSDEP (true by default) use rosdep to install dependencies. Define to false to disable.
• ROSINSTALL_CI_JOB_TOKEN (false by default), if defined to true: makes it possible to clone private repositories using wstool by using the CI job permissions mode. Requires GitLab 8.12 minimum and that the private repositories are on the same GitLab server.
• WSTOOL_RECURSIVE (false by default), if defined to true: wstool will be used to cloned recursively every repositories specified in the *.rosinstall files. For this feature to work:
  • The rosinstall file names must be unique
  • No repository may contain a space in it's name

Installing extra APT packages

Just add them after sourcing gitlab-ci.bash in the before_script section, for example:

before_script:
 - apt update >/dev/null && apt install -y git >/dev/null
 - git clone https://gitlab.com/VictorLamoine/ros_gitlab_ci.git >/dev/null
 - source ros_gitlab_ci/gitlab-ci.bash >/dev/null
 - apt install -y liblapack-dev ros-jazzy-uuid-msgs >/dev/null