# Github Actions Ros2 > --- name: github-actions-ros2 description: 'Set up GitHub Actions CI for ROS 2. Use when configuring ros-tooling/action-ros-ci, matrix builds, linting, or hardware-in-loop testing.' --- # CI/CD with GitHub Actions for ROS 2 Packages ## Basic CI Workflow Create `.github/workflows/ros2_ci.yml`: ```yaml name: ROS 2 CI on: push: branches: [main, develop] pull_request: branches: [main] jobs: build-and-test: runs-on: ubuntu-24.04 strategy: fail-fast: false matrix: ros_distro: [jazzy, rolling] container: image: ros:${{ matrix.ros_distro }} steps: - name: Install build tools run: | apt-get update && apt-get install -y \ python3-colcon-common-extensions \ python3-rosdep \ python3-vcstool \ git - name: Checkout repository uses: actions/checkout@v4 with: path: src/my_robot - name: Initialize rosdep run: | rosdep init || true rosdep update - name: Install dependencies run: | source /opt/ros/${{ matrix.ros_distro }}/setup.bash rosdep install --from-paths src --ignore-src -r -y - name: Build run: | source /opt/ros/${{ matrix.ros_distro }}/setup.bash colcon build \ --symlink-install \ --cmake-args -DCMAKE_BUILD_TYPE=Release \ --event-handlers console_direct+ - name: Test run: | source /opt/ros/${{ matrix.ros_distro }}/setup.bash source install/setup.bash colcon test \ --event-handlers console_direct+ \ --return-code-on-test-failure - name: Upload test results if: always() uses: actions/upload-artifact@v4 with: name: test-results-${{ matrix.ros_distro }} path: | build/*/test_results/ log/ ``` ## Using ros-tooling/action-ros-ci The `action-ros-ci` action wraps colcon build+test with built-in rosdep, caching, and multi-repo support. ```yaml name: ROS 2 CI (ros-tooling) on: push: branches: [main] pull_request: jobs: test: runs-on: ubuntu-24.04 strategy: matrix: ros_distro: [jazzy, rolling] steps: - uses: actions/checkout@v4 - uses: ros-tooling/setup-ros@v0.7 with: required-ros-distributions: ${{ matrix.ros_distro }} - uses: ros-tooling/action-ros-ci@v0.3 with: target-ros2-distro: ${{ matrix.ros_distro }} package-name: my_robot_bringup my_robot_nav_goals my_robot_interfaces colcon-defaults: | { "build": { "cmake-args": ["-DCMAKE_BUILD_TYPE=Release"] } } # Import additional repos via .repos file vcs-repo-file-url: dependencies.repos ``` ## Linting Workflow ```yaml name: ROS 2 Linting on: [push, pull_request] jobs: lint: runs-on: ubuntu-24.04 container: image: ros:jazzy steps: - uses: actions/checkout@v4 - name: Install linters run: | apt-get update && apt-get install -y \ ros-jazzy-ament-lint-auto \ ros-jazzy-ament-lint-common \ ros-jazzy-ament-cmake-lint-cmake \ ros-jazzy-ament-cmake-cppcheck \ ros-jazzy-ament-cmake-cpplint \ ros-jazzy-ament-cmake-flake8 \ ros-jazzy-ament-cmake-pep257 \ ros-jazzy-ament-cmake-xmllint - name: Run ament_lint_auto run: | source /opt/ros/jazzy/setup.bash colcon build --symlink-install colcon test --packages-select my_robot_bringup \ --event-handlers console_direct+ \ --return-code-on-test-failure colcon test-result --verbose ``` ## Code Coverage ```yaml coverage: runs-on: ubuntu-24.04 container: image: ros:jazzy steps: - uses: actions/checkout@v4 with: path: src/my_robot - name: Install deps run: | apt-get update && apt-get install -y \ python3-colcon-common-extensions \ python3-rosdep lcov python3-pytest-cov rosdep init || true && rosdep update source /opt/ros/jazzy/setup.bash rosdep install --from-paths src --ignore-src -r -y # C++ coverage with lcov - name: Build with coverage flags run: | source /opt/ros/jazzy/setup.bash colcon build --symlink-install \ --cmake-args \ -DCMAKE_BUILD_TYPE=Debug \ -DCMAKE_CXX_FLAGS="--coverage" \ -DCMAKE_C_FLAGS="--coverage" - name: Run tests run: | source /opt/ros/jazzy/setup.bash source install/setup.bash colcon test --event-handlers console_direct+ - name: Generate C++ coverage report run: | lcov --capture --directory build/ --output-file coverage.info lcov --remove coverage.info '/opt/*' '/usr/*' '*/test/*' \ --output-file coverage_filtered.info lcov --list coverage_filtered.info - name: Upload coverage uses: codecov/codecov-action@v4 with: files: coverage_filtered.info token: ${{ secrets.CODECOV_TOKEN }} ``` ## Caching Dependencies Speed up builds by caching apt packages and rosdep installations: ```yaml - name: Cache apt packages uses: actions/cache@v4 with: path: /var/cache/apt/archives key: apt-${{ matrix.ros_distro }}-${{ hashFiles('**/package.xml') }} restore-keys: | apt-${{ matrix.ros_distro }}- - name: Cache rosdep uses: actions/cache@v4 with: path: ~/.ros/rosdep key: rosdep-${{ matrix.ros_distro }}-${{ hashFiles('**/package.xml') }} ``` ## Integration Tests with Gazebo (Headless) ```yaml integration: runs-on: ubuntu-24.04 container: image: ros:jazzy-desktop steps: - uses: actions/checkout@v4 with: path: src/my_robot - name: Install Gazebo and test deps run: | apt-get update && apt-get install -y \ ros-jazzy-ros-gz \ python3-colcon-common-extensions python3-rosdep rosdep init || true && rosdep update source /opt/ros/jazzy/setup.bash rosdep install --from-paths src --ignore-src -r -y - name: Build run: | source /opt/ros/jazzy/setup.bash colcon build --symlink-install - name: Run integration tests (headless) env: DISPLAY: "" GZ_SIM_HEADLESS_RENDERING: 1 run: | source /opt/ros/jazzy/setup.bash source install/setup.bash colcon test --packages-select my_robot_bringup \ --event-handlers console_direct+ \ --return-code-on-test-failure ``` ## Pre-Commit Hooks `.pre-commit-config.yaml`: ```yaml repos: - repo: https://github.com/pre-commit/pre-commit-hooks rev: v4.6.0 hooks: - id: trailing-whitespace - id: end-of-file-fixer - id: check-xml # catches malformed package.xml - id: check-yaml - repo: https://github.com/psf/black rev: 24.4.2 hooks: - id: black - repo: https://github.com/PyCQA/flake8 rev: 7.1.0 hooks: - id: flake8 args: [--max-line-length=99] - repo: https://github.com/cpplint/cpplint rev: 1.6.1 hooks: - id: cpplint args: [--filter=-whitespace/braces,-build/include_order] ``` ```bash pip install pre-commit pre-commit install # Runs automatically on git commit ``` ## Self-Hosted Runner for Hardware-in-the-Loop For testing on the actual robot hardware: ```bash # On the robot: mkdir ~/actions-runner && cd ~/actions-runner curl -o actions-runner-linux-arm64-2.319.0.tar.gz -L \ https://github.com/actions/runner/releases/download/v2.319.0/actions-runner-linux-arm64-2.319.0.tar.gz tar xzf ./actions-runner-linux-arm64-2.319.0.tar.gz ./config.sh --url https://github.com/your_org/my_robot --token sudo ./svc.sh install && sudo ./svc.sh start ``` ```yaml hardware-test: runs-on: self-hosted if: github.event_name == 'push' && github.ref == 'refs/heads/main' needs: build-and-test steps: - uses: actions/checkout@v4 - name: Deploy and test on robot run: | cd ~/ros2_ws/src/my_robot && git pull source /opt/ros/jazzy/setup.bash cd ~/ros2_ws colcon build --symlink-install --packages-select my_robot_bringup source install/setup.bash ros2 launch my_robot_bringup precheck.launch.py ```