CI: downstream ROS 2 Jazzy / Gazebo Harmonic workspace integration - #24
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sotomotocross wants to merge 7 commits into
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CI: downstream ROS 2 Jazzy / Gazebo Harmonic workspace integration#24sotomotocross wants to merge 7 commits into
sotomotocross wants to merge 7 commits into
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Builds the full 4-package Harmonic radar workspace (rmagine, rmagine_gazebo_plugins, radarays_gazebo_plugins, radarays_ros) against this repo's current commit, so a rmagine change that breaks the downstream integration gets caught here instead of only being noticed later in one of the other repos. The GPU variant needs a self-hosted runner with a working OptiX SDK (see its own header comment for why there's no hardcoded include-dir default).
First real run on a live runner failed immediately: ROS 2's setup.bash references AMENT_TRACE_SETUP_FILES without guaranteeing it's set, which set -euxo pipefail's -u treats as fatal. ci_build_and_test.sh already had this exact workaround; this inline step never got it.
None of the 4 repos' Harmonic ports are merged upstream yet, so cloning uos/*'s main/ros2 pulled unported code and failed for reasons unrelated to this repo's own change. Temporary, marked clearly in the workflow -- revert to uos/* before opening the PR upstream.
Unlike GitHub-hosted runners (a fresh VM every run), a self-hosted runner's _work directory persists between runs -- plain git clone fails once the target directory exists from a prior run. First real failure on the newly-registered GPU runner.
This was referenced Jul 30, 2026
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The sibling-clone comment said "TEMPORARY... MUST be reverted to uos/* before opening the PR upstream" -- no longer accurate. rmagine_gazebo_plugins was superseded by amock's own rewrite upstream (merged into uos/main 2026-08-05); we're continuing independently on our own forks rather than chasing that merge. The clone URLs/branches themselves were already correct (sotomotocross/*, ros2-jazzy-harmonic) -- only the comment explaining why needed updating.
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Summary
rmagineitself needed no core changes for ROS 2 Jazzy / Gazebo Harmonic(it has no ROS or Gazebo dependency at all -- Embree/OptiX ray tracing
only). This PR adds CI that builds
rmaginealongside its threedownstream, ROS 2/Gazebo-dependent sibling packages
(
rmagine_gazebo_plugins,radarays_gazebo_plugins,radarays_ros) andruns their full regression suites -- so a future change here that breaks
a downstream consumer gets caught automatically, on both CPU (Embree) and
GPU (OptiX) paths.
This is one of 4 companion PRs for a full ecosystem migration off ROS 1 +
Gazebo Classic. The other three (the ones with real functional changes):
rmagine_gazebo_plugins-- Harmonic port of the Embree/OptiX scenemirroring + sensor Systems
radarays_gazebo_plugins-- Harmonic port of the radar sensor itselfradarays_ros-- ROS 2 port of the standalone radar nodes + materialoptimizer
What's in this PR
gz_workspace_integration.yml/_gpu.yml: clone the 3 sibling repos(from this fork's own siblings while this is unmerged, easy to retarget
to
uos/*once/if those PRs land), build the whole workspace, runevery fixture across all 4 packages.
actual runner (not just locally): a
rosdep/set -uunbound-variablecrash, and a self-hosted-runner idempotency issue (stale sibling
checkouts from a previous run).
Verification
CPU and GPU CI both green on this fork, real runners (one GitHub-hosted,
one self-hosted with an actual GPU) -- not just "builds locally."
Caveats, disclosed rather than hidden
shared infra -- fine for proving the pipeline works, not a proposal for
where it should live long-term.
upstream in case it's useful -- happy to adjust scope/approach based on
maintainer feedback.