From a26833b74b1c76f105b98355d3a17a3f9a4f5ef1 Mon Sep 17 00:00:00 2001
From: Rufus Wong <rcywongaa@gmail.com>
Date: Mon, 3 Feb 2025 17:17:30 -0500
Subject: [PATCH] CI : Pull in external repos

---
 .github/workflows/build.yaml | 24 ++++++++++-----
 ros2_ws/external.repos       | 57 ++++++++++++++++++++++++++++++++++++
 2 files changed, 73 insertions(+), 8 deletions(-)
 create mode 100644 ros2_ws/external.repos

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 3b622db..de915d9 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -15,23 +15,31 @@ jobs:
     defaults:
       run:
         shell: bash
-    #     working-directory: ./workspace
+        working-directory: ./ros2_ws
     container:
       image: ghcr.io/${{ github.actor }}/spaceros2_rust_dev:latest
-      # options: --user spaceros-user
-      options: --user root
+      options: --user spaceros-user
+      # options: --user root
     steps:
+      # https://github.com/actions/runner/issues/434
+      - name: Fix $USER permission
+        run: sudo usermod -a -G root spaceros-user
+
       - uses: actions/checkout@v4
 
+      - name: Pull external repos
+        run: mkdir src/external && cd src/external && vcs import < ../../external.repos
+
       - name: investigate
         run: |
-          pwd
-          whoami
-          ls -la
-          id -u
+          colcon list
+          echo $PATH
+          pip list
+          cd src/external/ros2_rust/rosidl_generator_rs
+          cat package.xml
 
       - name: Build
-        run: source /opt/spaceros/install/setup.bash && colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 --packages-up-to bringup
+        run: source /opt/spaceros/install/setup.bash && colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 --packages-up-to bringup --event-handlers console_cohesion+
 
       - name: Run fsm test
         run: source /opt/spaceros/install/setup.bash && colcon test-result --delete-yes && colcon test --ctest-args tests --packages-select rover_fsm
diff --git a/ros2_ws/external.repos b/ros2_ws/external.repos
new file mode 100644
index 0000000..d53a9a1
--- /dev/null
+++ b/ros2_ws/external.repos
@@ -0,0 +1,57 @@
+repositories:
+  BehaviorTree.CPP:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
+    version: master
+  BehaviorTree.ROS2:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.ROS2.git
+    version: humble
+  RSL:
+    type: git
+    url: https://github.com/PickNikRobotics/RSL.git
+    version: main
+  angles:
+    type: git
+    url: https://github.com/ros/angles.git
+    version: ros2
+  cpp_polyfills:
+    type: git
+    url: https://github.com/PickNikRobotics/cpp_polyfills.git
+    version: main
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: main
+  geographic_info:
+    type: git
+    url: https://github.com/ros-geographic-info/geographic_info.git
+    version: ros2
+  ros2_rust:
+    type: git
+    url: https://github.com/rcywongaa/ros2_rust.git
+    version: spaceros
+  ros2_rust_deps/ros2/common_interfaces:
+    type: git
+    url: https://github.com/ros2/common_interfaces.git
+    version: humble
+  ros2_rust_deps/ros2/example_interfaces:
+    type: git
+    url: https://github.com/ros2/example_interfaces.git
+    version: humble
+  ros2_rust_deps/ros2/rcl_interfaces:
+    type: git
+    url: https://github.com/ros2/rcl_interfaces.git
+    version: humble
+  ros2_rust_deps/ros2/rosidl_defaults:
+    type: git
+    url: https://github.com/ros2/rosidl_defaults.git
+    version: humble
+  ros2_rust_deps/ros2/test_interface_files:
+    type: git
+    url: https://github.com/ros2/test_interface_files.git
+    version: humble
+  ros2_rust_deps/ros2/unique_identifier_msgs:
+    type: git
+    url: https://github.com/ros2/unique_identifier_msgs.git
+    version: humble