You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Iron.
How to setup the Jenkins master
Table of Contents
Install the latest LTS release from http://pkg.jenkins-ci.org/debian-stable/
Running on port 80
Use this SO answer to setup a subdomain to a port:
hudson in each of the lines that contained it.)
Temporary rewrite for changed job name
We renamed some of the jobs, so here are some rewrite rules in Apache (
# Temporary rewrite rule because we changed the Windows job name. RewriteEngine On RewriteRule ^(.*)/ros2_batch_ci_linux/(.*)$ $1/ci_linux/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_osx/(.*)$ $1/ci_osx/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_windows/(.*)$ $1/ci_windows_opensplice/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_windows_opensplice/(.*)$ $1/ci_windows_opensplice/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_windows_connext_static/(.*)$ $1/ci_windows_connext_static/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_windows_connext_dynamic/(.*)$ $1/ci_windows_connext_dynamic/$2 [R=301,L] RewriteRule ^(.*)/ci_windows_opensplice/(.*)$ $1/ci_windows/$2 [R=301,L] RewriteRule ^(.*)/ci_windows_connext_static/(.*)$ $1/old_windows_connext_static/$2 [R=301,L] RewriteRule ^(.*)/ci_windows_connext_dynamic/(.*)$ $1/old_windows_connext_dynamic/$2 [R=301,L] RewriteRule ^(.*)/ci_windows_fastrtps/(.*)$ $1/old_windows_fastrtps/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_linux_nightly/(.*)$ $1/nightly_linux/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_osx_nightly/(.*)$ $1/nightly_osx/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_windows_opensplice_nightly/(.*)$ $1/nightly_windows_opensplice/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_windows_connext_static_nightly/(.*)$ $1/nightly_windows_connext_static/$2 [R=301,L] RewriteRule ^(.*)/ros2_batch_ci_windows_connext_dynamic_nightly/(.*)$ $1/nightly_windows_connext_dynamic/$2 [R=301,L] RewriteRule ^(.*)/nightly_windows_opensplice/(.*)$ $1/nightly_windows/$2 [R=301,L] RewriteRule ^(.*)/nightly_windows_connext_static/(.*)$ $1/old_night_windows_connext_static/$2 [R=301,L] RewriteRule ^(.*)/nightly_windows_connext_dynamic/(.*)$ $1/old_night_windows_connext_dynamic/$2 [R=301,L] RewriteRule ^(.*)/ros2_packaging_linux/(.*)$ $1/packaging_linux/$2 [R=301,L] RewriteRule ^(.*)/ros2_packaging_osx/(.*)$ $1/packaging_osx/$2 [R=301,L] RewriteRule ^(.*)/ros2_packaging_windows_opensplice/(.*)$ $1/packaging_windows_opensplice/$2 [R=301,L] RewriteRule ^(.*)/packaging_windows_opensplice/(.*)$ $1/packaging_windows/$2 [R=301,L]
Install stuff (needed on master and slaves)
sudo apt update sudo apt install -y git # Your java version will vary depending on your OS: #sudo apt install openjdk-7-jre-headless #sudo apt install openjdk-8-jre-headless # For ARM native servers, we need the tomcat native libs to support ssh-agent # (https://issues.jenkins-ci.org/browse/JENKINS-30746) #sudo apt install libtcnative-1 # qemu and vcs are required for ARM builds sudo apt install -y qemu-user-static sudo bash -c 'echo "deb http://repositories.ros.org/ubuntu/testing/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' sudo bash -c 'curl --silent https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc |sudo apt-key add -' # Or, on aarch64: #sudo apt install docker.io sudo apt update sudo apt install -y python-vcstool curl -fsSL https://get.docker.com/ | sh sudo adduser --disabled-password jenkins sudo usermod -aG docker jenkins sudo service docker start
Adding a Linux slave to the farm
Shell into the master (
/var/lib/jenkins/.ssh/id_rsa.puband paste it into
/home/jenkins/.ssh/authorized_keyson the new machine.
Copy config from the
linux 2machine, rename and otherwise modify as needed (e.g., change the IP/host).
/etc/ssh/ssh_host_rsa_key.pubfrom the new machine and add it as an entry in
/var/lib/jenkins/.ssh/known_hosts(with the new machine’s IP) on the master, then re-hash that file on the master:
First update all the preinstalled plugins.
Setup authentication with the
Install and follow their setup instructions:
Create an application entry on the ros2 GitHub organization:
Tune the permissions in
Manage Jenkins->Configure Global Security.
Install these plugins:
github(other git* plugins are deps of the
Adding an ssh key
Jenkins needs a valid ssh key in order to pull from some of our private repositories, for example to get the rti deb files.
So, let’s create an ssh key for the jenkins user on the webserver:
sudo su jenkins cd mkdir .ssh ssh-keygen -t rsa
Now add to the jenkins credentials as an “From the jenkins master ~/.ssh” with the user id of
Add this key to a “machine” GitHub account created for this farm and add that user,
ros2-buildfarm, to the
ros2/ci repository to the default branch (
git clone https://github.com/ros2/ci.git
git clone https://github.com/ros-infrastructure/ros_buildfarm.git
EmPy Python packages:
sudo apt install python3-pip sudo -H python3 -m pip install -U pip sudo -H python3 -m pip install jenkinsapi EmPy
Then setup auth:
mkdir -p ~/.buildfarm vim ~/.buildfarm/jenkins.ini
Put this in the
[http://ci.ros2.org] username=wjwwood password=<your application token>
Now, you should first login with GitHub on Jenkins if you haven’t already. Then put your GitHub username in and for the application token, browse to the configuration of your user on Jenkins:
In those settings there should be a field called API Token. Copy that field for your password.
Now you can create the jobs:
$ PYTHONPATH=`pwd`/../ros_buildfarm ./create_jenkins_job.py -u http://ci.ros2.org Connecting to Jenkins 'http://ci.ros2.org' Connected to Jenkins version '1.617' Creating job 'ros2_batch_ci_windows' The Jenkins master does not require a crumb Creating job 'ros2_batch_ci_osx' Creating job 'ros2_batch_ci_linux' Creating job 'ros2_batch_ci_launcher'
Tuning Auto-generated Jobs
The final step is to fine tune the jobs. For each job you’ll want to check the ssh key being used for the git clone (only on Linux) and the ssh-agent. It should be set to the ssh key setup in the previous steps for the jenkins user.
I also updated the slaves which the jobs will run on to make sure they matched the names of the slaves added for Linux, macOS and Windows.
Over time docker images and particularly containers will pile up.
To clean up use:
docker rm $(docker ps -a -q) docker rmi $(docker images -q -f dangling=true)