COLCON_PKG_SELECTION: env variable specifying package selection options

.github/workflows/generic.yaml

@@ -17,6 +17,10 @@ on:
         type: string
         description: ROS sources to compile. See README.md for details.
         required: false
+      COLCON_PKG_SELECTION:
+        type: string
+        description: colcon package selection arguments
+        required: false
 
       # workflow control
       SKIP_EXISTING:
@@ -138,6 +142,7 @@ jobs:
         # leave some time for the remaining steps too (github cancels the job after 360 minutes)
         timeout-minutes: ${{ inputs.BUILD_TIMEOUT || vars.BUILD_TIMEOUT || 340 }}
         env:
+          COLCON_PKG_SELECTION: ${{ inputs.COLCON_PKG_SELECTION || vars.COLCON_PKG_SELECTION || '' }}
           EXTRA_SBUILD_CONFIG: ${{ inputs.EXTRA_SBUILD_CONFIG || vars.EXTRA_SBUILD_CONFIG }}
           EXTRA_SBUILD_OPTS: ${{ inputs.EXTRA_SBUILD_OPTS || vars.EXTRA_SBUILD_OPTS }}
           DEB_BUILD_OPTIONS: ${{ inputs.DEB_BUILD_OPTIONS || vars.DEB_BUILD_OPTIONS || 'nocheck' }}

.github/workflows/interactive.yaml

@@ -22,15 +22,17 @@ on:
         description: 'ROS sources to compile:'
         required: true
         default: '*.repos'
+      COLCON_PKG_SELECTION:
+        type: string
+        description: 'colcon package selection:'
+        required: false
       SKIP_EXISTING:
         type: boolean
-        description: Skip building packages already existing in the repository
+        description: Skip existing packages?
         required: false
       DEPLOY_MODE:
         type: choice
-        description: |
-          How to deploy?
-          Uses vars.DEPLOY_URL and secrets.DEPLOY_PRIVATE_KEY
+        description: How to deploy?
         required: true
         default: skip
         options:
@@ -39,7 +41,7 @@ on:
           - append
       BRANCH:
         type: string
-        description: 'Branch to use (<deb distro>-<ros distro>):'
+        description: 'Branch to use:'
         required: false
 
 env:
@@ -53,6 +55,7 @@ jobs:
       DEB_DISTRO: ${{ inputs.DEB_DISTRO || vars.DEB_DISTRO }}
       ROS_DISTRO: ${{ inputs.ROS_DISTRO || vars.ROS_DISTRO || 'one' }}
       ROS_SOURCES: ${{ inputs.ROS_SOURCES || vars.ROS_SOURCES }}
+      COLCON_PKG_SELECTION: ${{ inputs.COLCON_PKG_SELECTION || vars.COLCON_PKG_SELECTION || '' }}
       # proceed from existing debs artifact if run_attempt > 1
       DOWNLOAD_DEBS: ${{ github.run_attempt != '1' }}
       SKIP_EXISTING: ${{ inputs.SKIP_EXISTING || vars.SKIP_EXISTING || false}}

.pre-commit-config.yaml

@@ -26,6 +26,7 @@ repos:
       - id: end-of-file-fixer
       - id: mixed-line-ending
       - id: trailing-whitespace
+        args: [--markdown-linebreak-ext=md]
 
   - repo: local
     hooks:

README.md

@@ -27,6 +27,7 @@ variable               | type    | default                   | semantics
 `ROS_DISTRO`           | string  | one                       | ROS distribution codename to compile for
 `DEB_DISTRO`           | string  | jammy                     | The Debian/Ubuntu distribution codename to compile for.
 `ROS_SOURCES`          | string  | `*.repos`                 | [ROS sources to compile](#what-to-build)
+`COLCON_PKG_SELECTION` | string  | ``                        | [colcon package selectio argument(s)](#where-to-start-building-from)
 `SKIP_EXISTING`        | boolean | false                     | [Skip (re)building packages already existing in the repository](#where-to-start-building-from)
 `DOWNLOAD_DEBS`        | boolean | false                     | [Continue building from previous debs artifact?](#where-to-start-building-from)
 `BUILD_TIMEOUT`        | number  | 340                       | Cancel build after this time, before github will do (minutes)
@@ -48,6 +49,12 @@ Building a complete ROS distro from scratch takes a lot of time, often more than
 
 The example workflow [splitted.yaml](.github/workflows/splitted.yaml) uses `DOWNLOAD_DEBS` to build a large ROS distro from several `.repos` files.
 
+Specifying `COLCON_PKG_SELECTION` allows to limit the build to a subset of packages via [colcon package selection options](https://colcon.readthedocs.io/en/released/reference/package-selection-arguments.html). For example:
+- To rebuild a specific package and all its downstream dependencies:  
+  `--packages-above-and-dependencies <pkg ...>`
+- To rebuild a single package (only use if ABI/API hasn't changed):  
+  `--packages-select <pkg ...>`
+
 ### What to build?
 
 `ROS_SOURCES` specifies a (space-separated) list of inputs suitable for `vcs import`.

src/build.sh

@@ -6,7 +6,8 @@ function deb_pkg_name {
 }
 
 function register_local_pkgs_with_rosdep {
-  for pkg in $(colcon list --topological-order --names-only); do
+  #shellcheck disable=SC2086
+  for pkg in $(colcon list --topological-order --names-only $COLCON_PKG_SELECTION); do
     cat << EOF >> "$DEBS_PATH/local.yaml"
 $pkg:
   $DISTRIBUTION:
@@ -101,7 +102,8 @@ function build_source {
   ici_timed "Register new packages with rosdep" register_local_pkgs_with_rosdep
 
   local pkg_paths
-  pkg_paths="$(colcon list --topological-order --paths-only)"
+  #shellcheck disable=SC2086
+  pkg_paths="$(colcon list --topological-order --paths-only $COLCON_PKG_SELECTION)"
   local count=1
   local total
   total="$(echo "$pkg_paths" | wc -l)"

src/env.sh

@@ -15,6 +15,7 @@ export EXTRA_ROSDEP_SOURCES=${EXTRA_ROSDEP_SOURCES:-}
 
 ## build options
 export ROS_SOURCES=${ROS_SOURCES:-*.repos}
+export COLCON_PKG_SELECTION=${COLCON_PKG_SELECTION:-}
 export EXTRA_SBUILD_CONFIG=${EXTRA_SBUILD_CONFIG:-}
 export CONTINUE_ON_ERROR=${CONTINUE_ON_ERROR:-false}
 export EXTRA_SBUILD_OPTS=${EXTRA_SBUILD_OPTS:-}

src/scripts/generic.sh

@@ -15,6 +15,7 @@ cat <<EOF
 ROS_DISTRO=$ROS_DISTRO
 DEB_DISTRO=$DEB_DISTRO
 ROS_SOURCES=$ROS_SOURCES
+COLCON_PKG_SELECTION=$COLCON_PKG_SELECTION
 
 EXTRA_DEB_SOURCES=$EXTRA_DEB_SOURCES
 EXTRA_ROSDEP_SOURCES=$EXTRA_ROSDEP_SOURCES

src/scripts/prepare.sh

@@ -30,7 +30,8 @@ echo apt-cacher-ng apt-cacher-ng/tunnelenable boolean true | ici_asroot debconf-
 # Install packages on host
 DEBIAN_FRONTEND=noninteractive ici_timed "Install packages" ici_apt_install \
 	mmdebstrap sbuild schroot devscripts libdistro-info-perl ccache curl apt-cacher-ng \
-	python3-pip python3-rosdep python3-vcstool python3-colcon-package-information python3-colcon-ros
+	python3-pip python3-rosdep python3-vcstool \
+	python3-colcon-package-information python3-colcon-package-selection python3-colcon-ros
 
 # 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