Merge remote-tracking branch 'origin/main' into humble

.github/workflows/industrial_ci_action.yml

@@ -1,16 +1,46 @@
-# https://github.com/ros-industrial/industrial_ci/blob/master/README.rst#id7
-name: Continuous Integration
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-on: push
+name: Continous Integration
+
+on: # this determines when this workflow is run
+  push:
+  #   branches: [ master, melodic-devel ] #  when master or melodic-devel branch is pushed to
+  #   pull_request:
+  #   branches: [ master ] # when there is a pull request against master
+  # schedule: # uncomment to run periodically
+  #  - cron: '0 4 * * *' # every day at 4 AM (UTC)
+  workflow_dispatch: # allow manually starting this workflow
 
 jobs:
   industrial_ci:
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: humble, ROS_REPO: main}
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
     runs-on: ubuntu-latest
+    strategy:
+      # fail-fast: false # uncomment if failing jobs should not cancel the others immediately
+      matrix: # matrix is the product of entries
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main]
+        # exclude: # specific configuration can be excludes
+        #   - {ROS_DISTRO: melodic, ROS_REPO: testing}
+        # include: # add additional configurations
+        #   - {ROS_DISTRO: kinetic, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
     steps:
-      - uses: actions/checkout@v3
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
+      - uses: actions/checkout@v3 # clone target repository
+      - uses: actions/cache@v3 # fetch/store the directory used by ccache before/after the ci run
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          # This configuration will always create a new ccache cache starting off from the previous one (if any).
+          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
+          # and might need some fine-tuning to match the use case
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
+        env: # either pass all entries explicitly
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+        # with: # or pass the full matrix as config
+        #    config: ${{toJSON(matrix)}}

README.md

@@ -37,14 +37,6 @@ If you don't have `ros2_video_streamer` in the new `src` folder, run this:
 git submodule update --init --recursive
 ```
 
-### Building for VSCode users
-
-Copy `src/.vscode/tasks.json` to `.vscode/tasks.json`:
-
-```bash
-cp src/.vscode/tasks.json .vscode
-```
-
 Now, anytime you want to build, do the following:
 
 In VSCode, press `F1` and enter `Tasks: Run Task` in the field until you see the
@@ -80,7 +72,7 @@ interfaces, you'll need to run this every time you change something:
 Make sure you're updated (only on the first build or if something breaks)
 
 ```bash
-rosdep update --rosdistro=$ROS_DISTRO --include-eol-distros
+rosdep update --rosdistro=$ROS_DISTRO
 ```
 
 Install dependecies (only on the first build or if something breaks)

src/pi/camera_streamer/launch/camera_launch.py

@@ -46,7 +46,7 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-        # front_cam_node,
-        # bottom_cam_node
+        front_cam_node,
+        bottom_cam_node,
         camera_switch_node
     ])