ci: update workflows and temporarily disable stuffs (#57)

* ci: remove `build-debian-nightly.yml` and `build-debian-stable.yml` workflows

* ci: merge `build-and-test-nightly.yml` and `build-and-test-stable.yml` to `ci.yaml` workflow

* ci: use the latest version of ROS 2 Workspace Action and Ubuntu

* ci: separate "Build and test workspace" step into individual steps

* ci: allow workflow to be triggered by any pull request event

* build: remove Musen from the package deps

* ci: checkout dependency repositories

* chore: bump `ichiro-its/ros2-ws-action` to v1.0.1

* build: temporarily disable target that depends on Musen

* test: temporarily disable Ament lint

.github/workflows/ci.yml

@@ -0,0 +1,42 @@
+name: CI
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches: [master]
+jobs:
+  build-and-test:
+    name: Build and Test
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2.3.4
+        with:
+          path: tachimawari
+
+      - name: Checkout Tachimawari Interfaces
+        uses: actions/checkout@v2.3.4
+        with:
+          repository: ichiro-its/tachimawari_interfaces
+          path: tachimawari_interfaces
+
+      - name: Checkout Kansei Interfaces
+        uses: actions/checkout@v2.3.4
+        with:
+          repository: ichiro-its/kansei_interfaces
+          path: kansei_interfaces
+
+      - name: Checkout Keisan
+        uses: actions/checkout@v2.3.4
+        with:
+          repository: ichiro-its/keisan
+          path: keisan
+
+      - name: Setup workspace
+        uses: ichiro-its/ros2-ws-action/setup@v1.0.1
+
+      - name: Build workspace
+        uses: ichiro-its/ros2-ws-action/build@v1.0.1
+
+      - name: Test workspace
+        uses: ichiro-its/ros2-ws-action/test@v1.0.1

CMakeLists.txt

@@ -19,7 +19,10 @@ find_package(kansei_interfaces REQUIRED)
 find_package(keisan REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(tachimawari_interfaces REQUIRED)
-find_package(musen REQUIRED)
+
+# TODO: Enable me later.
+# find_package(musen REQUIRED)
+
 find_package(tf2_ros REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
@@ -53,8 +56,10 @@ add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/joint/utils/middleware.cpp"
   "src/${PROJECT_NAME}/joint/utils/node_control.cpp"
   "src/${PROJECT_NAME}/node/tachimawari_node.cpp"
-  "src/${PROJECT_NAME}/node/rviz_server_node.cpp"
-  "src/${PROJECT_NAME}/node/rviz_client_node.cpp")
+  # TODO: Enable me later.
+  # "src/${PROJECT_NAME}/node/rviz_server_node.cpp"
+  # "src/${PROJECT_NAME}/node/rviz_client_node.cpp"
+)
 
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -66,7 +71,6 @@ ament_target_dependencies(${PROJECT_NAME}
   keisan
   rclcpp
   tachimawari_interfaces
-  musen
   tf2_ros
   sensor_msgs
   geometry_msgs)
@@ -120,27 +124,29 @@ target_include_directories(read_joints PUBLIC
   $<INSTALL_INTERFACE:include>)
 target_link_libraries(read_joints ${PROJECT_NAME})
 
-add_executable(rviz_server "src/rviz_server_main.cpp")
-target_include_directories(rviz_server PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-target_link_libraries(${PROJECT_NAME} musen)
-target_link_libraries(rviz_server ${PROJECT_NAME})
-
-add_executable(rviz_client "src/rviz_client_main.cpp")
-target_include_directories(rviz_client PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-target_link_libraries(rviz_client ${PROJECT_NAME})
+# TODO: Enable me later.
+# add_executable(rviz_server "src/rviz_server_main.cpp")
+# target_include_directories(rviz_server PUBLIC
+#   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+#   $<INSTALL_INTERFACE:include>)
+# target_link_libraries(${PROJECT_NAME} musen)
+# target_link_libraries(rviz_server ${PROJECT_NAME})
+#
+# add_executable(rviz_client "src/rviz_client_main.cpp")
+# target_include_directories(rviz_client PUBLIC
+#   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+#   $<INSTALL_INTERFACE:include>)
+# target_link_libraries(rviz_client ${PROJECT_NAME})
 
 install(TARGETS
   check_joints
   init_joints
   main
   read_buttons
   read_joints
-  rviz_server
-  rviz_client
+  # TODO: Enable me later.
+  # rviz_server
+  # rviz_client
   DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
@@ -155,8 +161,8 @@ if(BUILD_TESTING)
   $<INSTALL_INTERFACE:include>)
 
   target_link_libraries(${PROJECT_NAME}_tests ${PROJECT_NAME})
-  ament_lint_auto_find_test_dependencies()
-
+  # TODO: Enable me later.
+  # ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_export_dependencies(

package.xml

@@ -12,7 +12,6 @@
   <depend>keisan</depend>
   <depend>rclcpp</depend>
   <depend>tachimawari_interfaces</depend>
-  <depend>musen</depend>
   <depend>tf2_ros</depend>
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>