scheduled workflow: Support multi-arch

.github/workflows/build.yaml

@@ -131,7 +131,7 @@ env:
 
 jobs:
   debs:
-    runs-on: ${{ inputs.ARCH  == 'x64' && 'ubuntu-22.04' || inputs.ARCH }}
+    runs-on: ${{ inputs.ARCH  == 'x64' && 'ubuntu-22.04' || (inputs.ARCH == 'arm64' && 'ubuntu-22.04-arm' || inputs.ARCH) }}
     timeout-minutes: ${{ inputs.ARCH  == 'x64' && 340 || 2880 }}
     name: build debs
     outputs:
@@ -188,8 +188,7 @@ jobs:
 
       - name: Delete old ccache
         if: always() && steps.restore-ccache.outputs.cache-hit
-        continue-on-error: true
-        run: gh cache delete "${{ steps.restore-ccache.outputs.cache-primary-key }}"
+        run: gh cache delete "${{ steps.restore-ccache.outputs.cache-primary-key }}" || true
         env:
           GH_TOKEN: ${{ github.token }}
       - name: Store ccache

.github/workflows/ci.yaml

@@ -48,7 +48,7 @@ jobs:
 
   build:
     needs: unittests
-    name: "${{ matrix.DEB_DISTRO }}, ${{ matrix.ROS_SOURCES }}\
+    name: "${{ matrix.DEB_DISTRO }}-${{ matrix.ARCH }}, ${{ matrix.ROS_SOURCES }}\
            ${{ matrix.VERBOSE && format(', verbose={0}', matrix.VERBOSE) || '' }}\
            ${{ matrix.BUILD_TIMEOUT && format(', timeout={0}', matrix.BUILD_TIMEOUT) || '' }}\
            ${{ matrix.CONTINUE_ON_ERROR && ', cont-on-err' || '' }}"
@@ -57,22 +57,23 @@ jobs:
       fail-fast: false
       matrix:
         DEB_DISTRO: [ bookworm, jammy, noble ]
+        ARCH: [ x64 ]
         BUILD_TIMEOUT: [ 0 ]
         include:
           # defaults (can be overriden with values from include w/o adding jobs)
-          - { ROS_SOURCES: 'good', DEBS: false, VERBOSE: false }
+          - { ROS_SOURCES: good, DEBS: false, VERBOSE: false }
           # override/add settings for specific distros
           - { DEB_DISTRO: bookworm, DEBS: true, VERBOSE: bloom }
           - { DEB_DISTRO: noble, VERBOSE: true }
-          - { DEB_DISTRO: jammy, BUILD_TIMEOUT: 3, ROS_SOURCES: 'good', DEBS: true, EXPECT_EXIT_CODE: 143 }
+          - { DEB_DISTRO: jammy, ARCH: arm64, BUILD_TIMEOUT: 3, ROS_SOURCES: good, DEBS: true, EXPECT_EXIT_CODE: 143 }
           # add failing jobs
-          - { DEB_DISTRO: focal, ROS_SOURCES: broken, EXPECT_EXIT_CODE: 2, CONTINUE_ON_ERROR: false, DEBS: true }
-          - { DEB_DISTRO: focal, ROS_SOURCES: broken, EXPECT_EXIT_CODE: 1, CONTINUE_ON_ERROR: true, COLCON_PKG_SELECTION: '--packages-up-to rostime' }
+          - { DEB_DISTRO: focal, ARCH: x64, ROS_SOURCES: broken, EXPECT_EXIT_CODE: 2, CONTINUE_ON_ERROR: false, DEBS: true }
+          - { DEB_DISTRO: focal, ARCH: x64, ROS_SOURCES: broken, EXPECT_EXIT_CODE: 1, CONTINUE_ON_ERROR: true, COLCON_PKG_SELECTION: '--packages-up-to rostime' }
 
     uses: ./.github/workflows/build.yaml
     with:
       DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
-      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+      ARCH: ${{ matrix.ARCH }}
       ROS_SOURCES: .github/workflows/${{ matrix.ROS_SOURCES }}.repos
       INSTALL_TO_CHROOT: ${{ matrix.BUILD_TIMEOUT > 0 }}  # slow down for timeout test
       VERBOSE: ${{ matrix.VERBOSE && matrix.VERBOSE || false }}

.github/workflows/scheduled.yaml

@@ -13,9 +13,11 @@ jobs:
       fail-fast: false
       matrix:
         DEB_DISTRO: [jammy, noble]
-    uses: ubi-agni/ros-builder-action/.github/workflows/build.yaml@main
+        ARCH: [x64, arm64]
+    uses: ./.github/workflows/build.yaml
     with:
       DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
+      ARCH: ${{ matrix.ARCH }}
       ROS_SOURCES: ros-one.repos
       INSTALL_GPG_KEYS: |
         sudo curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg

src/build.sh

@@ -228,7 +228,7 @@ function build_pkg {
   if [ -n "$opts" ]; then opts="$EXTRA_SBUILD_OPTS $opts"; fi
 
   SBUILD_OPTS="--verbose --chroot=sbuild --no-clean-source --no-run-lintian --dist=$DEB_DISTRO $opts"
-  ici_label "${SBUILD_QUIET[@]}" sg sbuild -c "sbuild $SBUILD_OPTS" || return 4
+  ici_label "${SBUILD_QUIET[@]}" ici_asroot -E -H -u "$USER" bash -lc "sbuild $SBUILD_OPTS" || return 4
 
   "${CCACHE_QUIET[@]}" ici_label ccache -sv || return 1
   BUILT_PACKAGES+=("$(deb_pkg_name "$pkg_name"): $version_link")

src/scripts/prepare.sh

@@ -32,7 +32,7 @@ echo apt-cacher-ng apt-cacher-ng/tunnelenable boolean true | ici_asroot debconf-
 DEBIAN_FRONTEND=noninteractive ici_timed "Install build packages" ici_cmd "${APT_QUIET[@]}" ici_apt_install \
 	mmdebstrap sbuild schroot devscripts ccache apt-cacher-ng python3-pip python3-rosdep libxml2-utils libarchive-tools \
 	python3-colcon-package-information python3-colcon-package-selection python3-colcon-ros python3-colcon-cmake \
-	python3-stdeb python3-all dh-python
+	python3-stdeb python3-all dh-python build-essential
 
 # Install patched bloom to handle ROS "one" distro key when resolving python and ROS version
 ici_timed "Install bloom" ici_asroot pip install -U git+https://github.com/rhaschke/bloom.git@ros-one