feat(level1): ROS2 完全体 12 包 / 80 测试 / 23 文档 / 工程化 / Docker 分组

2026-08-04 10:19:47 +08:00
parent 5ef38ab508
commit 549d6b337e
141 changed files with 8949 additions and 1594 deletions
@@ -0,0 +1,84 @@
+# GitLab CI 配置 - ROS2 项目自动 build + test
+#
+# 触发:
+#   - 推送到 master / develop
+#   - Merge Request
+#
+# 阶段:
+#   1. lint  - 静态检查(ruff + flake8 + cpp linter)
+#   2. build - Docker 镜像 + colcon build
+#   3. test  - colcon test(全部包)
+#   4. docs  - (可选)生成 sphinx 文档
+
+stages:
+  - lint
+  - build
+  - test
+
+variables:
+  DOCKER_IMAGE: "ros2-humble-dev:latest"
+  DOCKER_COMPOSE_PROJECT: "ros2-ci"
+  PACKAGES: "py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo py_params cpp_custom_interface py_lifecycle_composable cpp_qos_demo py_overlay_dds bringup"
+
+# ---------- 共享缓存 ----------
+.cache-template: &docker-cache
+  key: docker-cache
+  paths:
+    - docker/.cache/
+
+# ---------- Lint ----------
+lint:python:
+  stage: lint
+  image: python:3.10
+  before_script:
+    - pip install ruff flake8
+  script:
+    - ruff check src/ || true
+    - flake8 src/ --max-line-length=120 || true
+  rules:
+    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
+    - if: $CI_COMMIT_BRANCH == "master"
+    - if: $CI_COMMIT_BRANCH == "develop"
+
+# ---------- Build ----------
+build:docker:
+  stage: build
+  image: docker:24
+  services:
+    - docker:dind
+  variables:
+    DOCKER_TLS_CERTDIR: ""
+    DOCKER_HOST: tcp://docker:2375
+  before_script:
+    - docker info
+  script:
+    - docker compose -p ${DOCKER_COMPOSE_PROJECT} -f docker/docker-compose.yml build
+  rules:
+    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
+    - if: $CI_COMMIT_BRANCH == "master"
+    - if: $CI_COMMIT_BRANCH == "develop"
+
+# ---------- Test ----------
+test:colcon:
+  stage: test
+  image: ${DOCKER_IMAGE}
+  needs: ["build:docker"]
+  before_script:
+    - apt-get update -qq
+    - apt-get install -y --no-install-recommends colcon
+  script:
+    - source /opt/ros/humble/setup.bash
+    - cd /root/ros2_ws
+    - colcon build --symlink-install --packages-select ${PACKAGES}
+    - colcon test --packages-select ${PACKAGES}
+    - colcon test-result --verbose
+  artifacts:
+    when: always
+    paths:
+      - build/**/test_results/
+      - log/
+    expire_in: 7 days
+  rules:
+    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
+    - if: $CI_COMMIT_BRANCH == "master"
+    - if: $CI_COMMIT_BRANCH == "develop"