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Multiple CI and README.md Improvements (backport #324) #340

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49 changes: 41 additions & 8 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,16 +2,28 @@ name: CI

on:
pull_request:
push:
branches:
- '**'
- humble
- jazzy
- kilted
- rolling
workflow_call:
inputs:
branch:
description: "Branch to checkout"
required: false
type: string
default: "rolling"
workflow_dispatch:

jobs:

micro_ros_idf:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
<<<<<<< HEAD
idf_target: [ esp32, esp32s2, esp32s3, esp32c3, esp32c6, esp32p4]
idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2", "espressif/idf:release-v5.5" ]
exclude:
Expand All @@ -24,22 +36,25 @@ jobs:
# Skip IDF v5.2 + ESP32-P4 combination
- idf_target: esp32p4
idf_version: espressif/idf:release-v5.2
=======
idf_target: [esp32, esp32s2, esp32s3, esp32c3, esp32c6]
idf_version: [v5.2, v5.3, v5.4]
>>>>>>> d749ff1 (Multiple CI and README.md Improvements (#324))

container:
image: ${{ matrix.idf_version }}
image: "espressif/idf:release-${{ matrix.idf_version }}"

steps:
- uses: actions/checkout@v2
- uses: actions/checkout@v6
with:
path: micro_ros_espidf_component
ref: ${{ inputs.branch || github.ref }}

- name: Dependencies
shell: bash
run: |
apt update
export DEBIAN_FRONTEND=noninteractive
apt install -y git python3-pip
. $IDF_PATH/export.sh
<<<<<<< HEAD
pip3 install catkin_pkg lark-parser colcon-common-extensions empy==3.3.4
# This line avoids the error when using Python < 3.7 https://importlib-resources.readthedocs.io/en/latest/
pip3 install importlib-resources
Expand All @@ -58,6 +73,9 @@ jobs:
run: |
. $IDF_PATH/export.sh
pip3 install setuptools==68.1.2
=======
pip install catkin_pkg colcon-common-extensions lark
>>>>>>> d749ff1 (Multiple CI and README.md Improvements (#324))

- name: Build sample - int32_publisher
shell: bash
Expand Down Expand Up @@ -95,6 +113,18 @@ jobs:
idf.py set-target ${{ matrix.idf_target }}
idf.py build

<<<<<<< HEAD
=======
- name: Build sample - int32_publisher_custom_transport_usbcdc
shell: bash
if: matrix.idf_target == 'esp32s2' || matrix.idf_target == 'esp32s3'
run: |
. $IDF_PATH/export.sh
cd micro_ros_espidf_component/examples/int32_publisher_custom_transport_usbcdc
idf.py set-target ${{ matrix.idf_target }}
idf.py build

>>>>>>> d749ff1 (Multiple CI and README.md Improvements (#324))
- name: Build sample - multithread_publisher
shell: bash
run: |
Expand All @@ -105,6 +135,7 @@ jobs:
cd examples/multithread_publisher
idf.py set-target ${{ matrix.idf_target }}
idf.py build
<<<<<<< HEAD

- name: EmbeddedRTPS
shell: bash
Expand All @@ -114,4 +145,6 @@ jobs:
make -f libmicroros.mk clean
cd examples/int32_publisher_embeddedrtps
idf.py set-target ${{ matrix.idf_target }}
idf.py build
idf.py build
=======
>>>>>>> d749ff1 (Multiple CI and README.md Improvements (#324))
15 changes: 9 additions & 6 deletions .github/workflows/nightly.yml
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Original file line number Diff line number Diff line change
@@ -1,19 +1,16 @@
name: Nightly

on:
workflow_dispatch:
inputs:
name:
description: "Manual trigger"
schedule:
- cron: '0 4 * * *'
- cron: '0 4 * * *'
workflow_dispatch:

jobs:
micro_ros_idf:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
<<<<<<< HEAD
branch: [rolling, jazzy, humble]
idf_target: [ esp32, esp32s2, esp32c3, esp32s3, esp32c6, esp32p4]
idf_version: [ "espressif/idf:release-v4.4", "espressif/idf:release-v5.2", "espressif/idf:release-v5.5" ]
Expand Down Expand Up @@ -121,3 +118,9 @@ jobs:
cd examples/int32_publisher_embeddedrtps
idf.py set-target ${{ matrix.idf_target }}
idf.py build
=======
branch: [humble, jazzy, kilted, rolling]
uses: ./.github/workflows/ci.yml
with:
branch: ${{ matrix.branch }}
>>>>>>> d749ff1 (Multiple CI and README.md Improvements (#324))
25 changes: 16 additions & 9 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -3,24 +3,30 @@

# micro-ROS component for ESP-IDF

<<<<<<< HEAD
This component has been tested in ESP-IDF v4.4, v5.2, and v5.5 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3, ESP32-C6 and ESP32-P4.
=======
This component has been tested in ESP-IDF v5.2, v5.3, and v5.4 with ESP32, ESP32-S2, ESP32-S3, ESP32-C3 and ESP32-C6.
>>>>>>> d749ff1 (Multiple CI and README.md Improvements (#324))

## Dependencies

This component needs `colcon` and other Python 3 packages inside the IDF virtual environment in order to build micro-ROS packages:

```bash
. $IDF_PATH/export.sh
pip3 install catkin_pkg lark-parser colcon-common-extensions
pip3 install catkin_pkg colcon-common-extensions lark
```

## Middlewares available

This package support the usage of micro-ROS on top of two different middlewares:

- [eProsima Micro XRCE-DDS](https://micro-xrce-dds.docs.eprosima.com/en/latest/): the default micro-ROS middleware.
- [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS): an experimental implementation of a RTPS middleware compatible with ROS 2.
- [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS): an experimental implementation of a RTPS middleware compatible with ROS 2. (CURRENTLY NOT WORKING)

In order to select it, use `idf.py menuconfig` and go to `micro-ROS Settings > micro-ROS middleware`

## Usage

You can clone this repo directly in the `components` folder of your project.
Expand All @@ -34,7 +40,11 @@ In order to test a int32_publisher example:
```bash
. $IDF_PATH/export.sh
cd examples/int32_publisher
<<<<<<< HEAD
# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6|esp32p4]
=======
# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
>>>>>>> d749ff1 (Multiple CI and README.md Improvements (#324))
idf.py set-target esp32
idf.py menuconfig
# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
Expand All @@ -61,19 +71,16 @@ docker run -it --rm --net=host microros/micro-ros-agent:humble udp4 --port 8888
It's possible to build this example application using the official Espressif [docker images](https://hub.docker.com/r/espressif/idf), following the same steps:

```bash
docker pull espressif/idf:release-v5.2
# Run ESP-IDF container
docker run --name micro-ros-espidf-component-test -it espressif/idf:release-v5.2 bash
docker run --name micro-ros-espidf-component -it espressif/idf:release-v5.4 bash

git clone https://github.com/micro-ROS/micro_ros_espidf_component.git
git clone -b rolling https://github.com/micro-ROS/micro_ros_espidf_component.git
cd micro_ros_espidf_component/

# Install dependencies
pip3 install catkin_pkg lark-parser colcon-common-extensions
pip install catkin_pkg colcon-common-extensions lark

$IDF_PATH/export.sh
cd examples/int32_publisher
# Set target board [esp32|esp32s2|esp32s3|esp32c3]
# Set target board [esp32|esp32s2|esp32s3|esp32c3|esp32c6]
idf.py set-target esp32
idf.py menuconfig
# Set your micro-ROS configuration and WiFi credentials under micro-ROS Settings
Expand Down