ci: add Windows builds

[gavanderhoorn]

We should add Windows builds to CI. Here, and in ros-industrial/abb_egm_rws_managers and ros-industrial/abb_robot_driver_interfaces.

[gavanderhoorn]

Can probably re-use (parts of) the builds in abb_libegm and abb_librws.

[traversaro]

Can probably re-use (parts of) the builds in abb_libegm and abb_librws.

Unfortunately those one use vcpkg for their dependencies, and as far as I know there is no easy to use/fast way to build ROS on top of vcpkg provided dependencies.

The two main options that come to my mind are:

• Use Chocolatey binaries provided by the ROSOnWindows project, see for example https://github.com/ms-iot/ros_simulation_lab/blob/master/.github/workflows/build-windows.yml or https://ms-iot.github.io/ROSOnWindows/GettingStarted/GithubSetupCS_Windows.html . This approach is the one officially supported by Microsoft.
• Use RoboStack-provided conda-binaries for ROS dependencies (just noetic) and conda-forge for non-ROS dependencies. For an example, see rviz + moveit_setup_assistant on osx need macos_min_version=10.9 & MACOSX_DEPLOYMENT_TARGET=10.9 RoboStack/ros-noetic#69 (comment) . This approach is based on conda-forge and RoboStack that are currently purely volunteer-based organizations.

Related to the second point, I plan to eventually package abb_libegm and abb_librws in conda-forge, that should make the CI setup easier.

[gavanderhoorn]

Personally I don't develop on Windows, which is also why this is labelled help-wanted -- which is from my perspective, as I created the issue.

The two main options that come to my mind are

Again, personally, I don't really have a preference, as long as whatever we end up implementing gives a good indication of whether or not Windows builds are successful and those builds can be used for CI purposes (ie: detecting regressions, etc).

btw @traversaro: the two links to the build-windows.yml files seem to be the same. Were those supposed to link to something different?

[traversaro]

btw @traversaro: the two links to the build-windows.yml files seem to be the same. Were those supposed to link to something different?

Yes, sorry for that, I fixed the second link now.

[traversaro]

Personally I don't develop on Windows, which is also why this is labelled help-wanted -- which is from my perspective, as I created the issue.

The two main options that come to my mind are

Again, personally, I don't really have a preference, as long as whatever we end up implementing gives a good indication of whether or not Windows builds are successful and those builds can be used for CI purposes (ie: detecting regressions, etc).

Same here, as I don't use ROS at least for ABB-related stuff. I just wanted to drop a few pointers as I saw the abb_libegm/abb_librws CI setup mentioned, as I know that Windows CI and packaging usually scares a bit contributors, so having a few pointers could be helpful.

[gavanderhoorn]

so having a few pointers could be helpful.

certainly. Grazie mille.

[ooeygui]

Azure Edge Robotics has documentation for CI using Github actions for Windows:
https://ms-iot.github.io/ROSOnWindows/GettingStarted/GithubSetupCI.html

(Once we complete the MoveIt2 work, I'll check back on this thread)