Skip to content
Latchkey
Start Free

ROS2 CI workflow (abizovnuralem/go2_ros2_sdk)

The ROS2 CI workflow from abizovnuralem/go2_ros2_sdk, explained and optimized by Latchkey.

C

CI health: C - fair

Run this on Latchkey for self-healing, caching, and up to 58% lower cost.

Grade your own workflow free or run it on Latchkey →
Source: abizovnuralem/go2_ros2_sdk.github/workflows/ros_build.yamlLicense BSD-2-ClauseView source

What it does

This is the ROS2 CI workflow from the abizovnuralem/go2_ros2_sdk repository, a real project running GitHub Actions. It is shown here with attribution under its BSD-2-Clause license.

Below, Latchkey shows a faster, safer version produced by its optimization engine.

The workflow

workflow (.yml)
name: ROS2 CI

on:
  pull_request:
    branches:
      - 'master'
  push:
    branches:
      - 'master'

jobs:
  test_environment:
    runs-on: [ubuntu-latest]
    strategy:
      fail-fast: false
      matrix:
        ros_distribution:
          - humble
          - jazzy 
        include:
          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
            ros_distribution: humble
            ros_version: 2
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
            ros_distribution: jazzy
            ros_version: 2            
    container:
      image: ${{ matrix.docker_image }}
    steps:
      - name: checkout
        uses: actions/checkout@v2
        with:
          submodules: recursive
      - name: Install libunwind (fix issues on humble)
        run: sudo apt update && sudo apt install --no-install-recommends libunwind-dev -y
      - name: build and test
        uses: ros-tooling/action-ros-ci@master
        with:
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ""
          skip-tests: true

The same workflow, on Latchkey

Removes redundant runs and caps runaway jobs. Added and changed lines are highlighted.

name: ROS2 CI
 
on:
  pull_request:
    branches:
      - 'master'
  push:
    branches:
      - 'master'
 
concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true
 
jobs:
  test_environment:
    timeout-minutes: 30
    runs-on: [ubuntu-latest]
    strategy:
      fail-fast: false
      matrix:
        ros_distribution:
          - humble
          - jazzy 
        include:
          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
            ros_distribution: humble
            ros_version: 2
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
            ros_distribution: jazzy
            ros_version: 2            
    container:
      image: ${{ matrix.docker_image }}
    steps:
      - name: checkout
        uses: actions/checkout@v2
        with:
          submodules: recursive
      - name: Install libunwind (fix issues on humble)
        run: sudo apt update && sudo apt install --no-install-recommends libunwind-dev -y
      - name: build and test
        uses: ros-tooling/action-ros-ci@master
        with:
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: ""
          skip-tests: true

What changed

1 third-party action is referenced by a movable tag. Pin it to the commit SHA (Latchkey resolves and applies this automatically) so a repointed tag cannot change what runs.

What Latchkey heals here

This workflow has steps that commonly fail on transient issues (network, registries, flaky browsers). On Latchkey managed runners they are detected, retried, and self-healed instead of failing your build:

This workflow runs 1 job (2 with the matrix expanded) per trigger. On Latchkey the same minutes cost up to 58% less than GitHub-hosted, with zero queue time.

Actions used in this workflow

actions/checkout