Update CI to automatically generate distro matrix

Signed-off-by: Evan Flynn <[email protected]>

.github/workflows/build_test.yml

@@ -1,50 +1,89 @@
-name: ROS2 CI
+name: Build and Test
 
 on:
   workflow_dispatch:
   pull_request:
     branches:
-      - 'ros2/*'
-      - 'ros2'
+      - '*'
 
 jobs:
-  test_environment:
+  get_ros_distros:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get -y install curl jq
+      - name: Get active distributions
+        run: |
+          wget https://raw.githubusercontent.com/flynneva/active_ros_distros/main/main.py -O active_ros_distros.py
+          python3 -m pip install rosdistro
+          python3 active_ros_distros.py --distribution-type ros2
+      - name: Generate actions matrix
+        id: set-matrix
+        run: |
+          ACTIVE_ROS_DISTROS=()
+          DOCKER_DISTRO_MATRIX=()
+          RAW_DOCKER_JSON=$(curl -s "https://hub.docker.com/v2/repositories/rostooling/setup-ros-docker/tags?page_size=1000")
+          while read distro; do
+            ACTIVE_ROS_DISTROS+=( $distro )
+          done < "/tmp/active_ros_distros.txt"
+          DISTRO_STR="["
+          MATRIX_STR="["
+          for distro in ${ACTIVE_ROS_DISTROS[@]}; do
+            docker_image=$(echo $RAW_DOCKER_JSON |
+              jq -r --arg DISTRO "$distro" '.results[] | select(.tag_status=="active") | select(.name | contains("ros-base-latest")) | select(.name | contains($DISTRO)) | .name'  |
+              sort -u)
+            DISTRO_STR+="\"${distro}\", "
+            MATRIX_STR+="{docker_image:\"${docker_image}\",ros_distro:\"${distro}\"}, "
+          done
+          # Remove trailing , at end
+          DISTRO_STR=${DISTRO_STR%??}
+          MATRIX_STR=${MATRIX_STR%??}
+          # Close up brackets
+          DISTRO_STR+="]"
+          MATRIX_STR+="]"
+          echo "DISTRO_STR: ${DISTRO_STR}"
+          echo "MATRIX_STR: ${MATRIX_STR}"
+
+          echo "series=$DISTRO_STR" >> $GITHUB_OUTPUT
+          echo "matrix=$MATRIX_STR" >> $GITHUB_OUTPUT
+    outputs:
+      series: ${{ steps.set-matrix.outputs.series }}
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+
+  build_and_test:
     runs-on: [ubuntu-latest]
+    needs: get_ros_distros
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution:
-          - humble
-          - iron
-          - rolling
+        ros_distro: ${{ fromJson(needs.get_ros_distros.outputs.series) }}
         include:
-          # Humble Hawksbill  (May 2022 - 2027
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
-            ros_distribution: humble
-            ros_version: 2
-          # Iron Irwini  (May 2023 - Nov 2024)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
-            ros_distribution: iron
-            ros_version: 2
-          # Rolling Ridley  (June 2020 - Present)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
-            ros_distribution: rolling
-            ros_version: 2
+          ${{ fromJson(needs.get_ros_distros.outputs.matrix) }}
     container:
-      image: ${{ matrix.docker_image }}
+      image: rostooling/setup-ros-docker:${{ matrix.docker_image }}
     steps:
-      - name: setup directories
+      - name: Setup Directories
         run: mkdir -p ros_ws/src
       - name: checkout
         uses: actions/checkout@v2
         with:
           path: ros_ws/src
-      - name: build and test
+      - name: Build and Test ROS 1
+        uses: ros-tooling/action-ros-ci@master
+        if: ${{ contains('["melodic", "noetic"]', matrix.ros_distro) }}
+        with:
+          package-name: usb_cam
+          target-ros1-distro: ${{ matrix.ros_distro }}
+          vcs-repo-file-url: ""
+      - name: Build and Test ROS 2
         id: build_and_test_step
         uses: ros-tooling/action-ros-ci@master
+        if: ${{ contains('["melodic", "noetic"]', matrix.ros_distro) == false }}
         with:
           package-name: usb_cam
-          target-ros2-distro: ${{ matrix.ros_distribution }}
+          target-ros2-distro: ${{ matrix.ros_distro }}
           vcs-repo-file-url: ""
           colcon-defaults: |
             {
@@ -57,11 +96,13 @@ jobs:
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/1ddb69bedfd1f04c2f000e95452f7c24a4d6176b/index.yaml
       - uses: actions/upload-artifact@v1
         with:
-          name: colcon-logs-${{ matrix.ros_distribution }}
+          name: colcon-logs-${{ matrix.ros_distro }}
           path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/log
         if: always()
+        continue-on-error: true
       - uses: actions/upload-artifact@v1
         with:
-          name: lcov-logs-${{ matrix.ros_distribution }}
+          name: lcov-logs-${{ matrix.ros_distro }}
           path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov
-        if: always()
+        if: always()
+        continue-on-error: true