From a08e1bf18d5276b8e1564529b239472df8cbffc1 Mon Sep 17 00:00:00 2001
From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Date: Tue, 24 May 2022 00:29:45 +0900
Subject: [PATCH] ci: add matrix build for Humble (#336)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
---
 .github/workflows/build-self-hosted.yaml        | 17 ++++++++++++++---
 .github/workflows/build.yaml                    | 17 ++++++++++++++---
 .../docker-build-and-push-self-hosted.yaml      | 11 +++++++++++
 .github/workflows/docker-build-and-push.yaml    | 11 +++++++++++
 4 files changed, 50 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build-self-hosted.yaml b/.github/workflows/build-self-hosted.yaml
index 628d60d429b0c..35e89bda2e5ee 100644
--- a/.github/workflows/build-self-hosted.yaml
+++ b/.github/workflows/build-self-hosted.yaml
@@ -8,10 +8,21 @@ on:
 jobs:
   build-self-hosted:
     runs-on: [self-hosted, linux, ARM64]
-    container: ubuntu:20.04
+    container: ubuntu:${{ matrix.ubuntu-version }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - { rosdistro: galactic, branch: main, ubuntu-version: "20.04" }
+          - { rosdistro: humble, branch: humble, ubuntu-version: "22.04" }
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
+        with:
+          ref: ${{ matrix.branch }}
 
       - name: Run setup script
         run: |
@@ -26,9 +37,9 @@ jobs:
         run: |
           sudo apt-get -y update
           rosdep update
-          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro galactic
+          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro ${{ matrix.rosdistro }}
 
       - name: Build
         run: |
-          . /opt/ros/galactic/setup.sh
+          . /opt/ros/${{ matrix.rosdistro }}/setup.sh
           colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 5f3841733c719..3f8836f7c7883 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -8,10 +8,21 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: ubuntu:20.04
+    container: ubuntu:${{ matrix.ubuntu-version }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - { rosdistro: galactic, branch: main, ubuntu-version: "20.04" }
+          - { rosdistro: humble, branch: humble, ubuntu-version: "22.04" }
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
+        with:
+          ref: ${{ matrix.branch }}
 
       - name: Run setup script
         run: |
@@ -31,9 +42,9 @@ jobs:
         run: |
           sudo apt-get -y update
           rosdep update
-          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro galactic
+          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro ${{ matrix.rosdistro }}
 
       - name: Build
         run: |
-          . /opt/ros/galactic/setup.sh
+          . /opt/ros/${{ matrix.rosdistro }}/setup.sh
           colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/.github/workflows/docker-build-and-push-self-hosted.yaml b/.github/workflows/docker-build-and-push-self-hosted.yaml
index ae8f418bdf9aa..5769e5df3b013 100644
--- a/.github/workflows/docker-build-and-push-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-self-hosted.yaml
@@ -11,6 +11,15 @@ on:
 jobs:
   docker-build-and-push-self-hosted:
     runs-on: [self-hosted, linux, ARM64]
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - { rosdistro: galactic, branch: main }
+          - { rosdistro: humble, branch: humble }
     steps:
       # https://github.com/actions/checkout/issues/211
       - name: Change permission of workspace
@@ -19,6 +28,8 @@ jobs:
 
       - name: Check out repository
         uses: actions/checkout@v3
+        with:
+          ref: ${{ matrix.branch }}
 
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index fa4ddb5ac541f..42b74df8fed69 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -11,9 +11,20 @@ on:
 jobs:
   docker-build-and-push:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - { rosdistro: galactic, branch: main }
+          - { rosdistro: humble, branch: humble }
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
+        with:
+          ref: ${{ matrix.branch }}
 
       - name: Free disk space
         uses: ./.github/actions/free-disk-space