Porter-ROS/.github/workflows/ci.yml at main · VirtusCo/Porter-ROS · GitHub

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# Copyright 2026 VirtusCo
name: Porter ROS CI

on:
  push:
    branches: [main, prototype, 'feat/**']
  pull_request:
    branches: [main, prototype]

defaults:
  run:
    shell: bash

jobs:
  unit-tests:
    name: Unit Tests (Python)
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-python@v5
        with:
          python-version: '3.12'
      - run: pip install pytest
      - run: pytest tests/unit/ -v --tb=short

  ros2-build-test:
    name: ROS 2 Build & Test
    runs-on: ubuntu-latest
    container:
      image: ros:jazzy
      options: --user root
    steps:
      - name: Install git + git-lfs
        run: |
          apt-get update
          apt-get install -y git git-lfs
          git lfs install
      - uses: actions/checkout@v4
        with:
          lfs: true
      - name: Install system deps + YDLidar SDK
        run: |
          apt-get install -y python3-pip python3-colcon-common-extensions python3-rosdep build-essential cmake
          git clone --depth 1 https://github.com/YDLIDAR/YDLidar-SDK.git /tmp/sdk
          mkdir -p /tmp/sdk/build && cd /tmp/sdk/build
          cmake .. -DCMAKE_BUILD_TYPE=Release && make -j$(nproc) && make install && ldconfig
      - name: Install ROS deps
        run: |
          source /opt/ros/jazzy/setup.bash
          rosdep update
          rosdep install --from-paths src --ignore-src -r -y --skip-keys="ament_python" || true
      - name: Build
        run: |
          source /opt/ros/jazzy/setup.bash
          colcon build --symlink-install --cmake-args -Wno-dev
      - name: Test
        run: |
          source /opt/ros/jazzy/setup.bash
          source install/setup.bash
          colcon test --event-handlers console_direct+
          colcon test-result --verbose || true

  firmware-ztest:
    name: ESP32 Firmware Ztest
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-python@v5
        with:
          python-version: '3.12'
      - name: Install Zephyr toolchain
        run: |
          pip install west pyelftools intelhex esptool
          sudo apt-get update && sudo apt-get install -y cmake ninja-build gperf ccache dfu-util \
            device-tree-compiler wget xz-utils file make gcc gcc-multilib g++-multilib libsdl2-dev
      - name: Init west workspace
        run: |
          cd esp32_firmware
          west init -l .
          west update --narrow --fetch-opt=--depth=1
      - name: Run Ztest on native_sim
        run: |
          cd esp32_firmware
          west twister -T tests/ -p native_sim --no-color || true

  lint:
    name: Lint
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-python@v5
        with:
          python-version: '3.12'
      - run: pip install flake8
      - run: flake8 src/ tests/ --max-line-length=99 --exclude=build,install,log,__pycache__,models --count || true