Test PR to debug macOS support for action

.github/workflows/test.yml

@@ -122,3 +122,24 @@ jobs:
           use-gazebo-nightly: 'true'
       - name: 'Test Gazebo installation'
         run: 'gz sim --versions'
+
+  test_gazebo_install_macos:
+    name: 'Check installation of Gazebo on MacOS'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - macos-12
+          - macos-13
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-node@v4.0.2
+        with:
+          node-version: '20.x'
+      - name: 'Check Gazebo installation on MacOS runner'
+        uses: ./
+        with:
+          required-gazebo-distributions: 'harmonic'
+      - name: 'Test Gazebo installation'
+        run: 'gz sim --versions'

README.md

@@ -9,6 +9,7 @@ This action sets up a Gazebo release inside a Linux environment.
     1. [Setting up worker and installing a compatible Gazebo and Ubuntu combination](#Setting-up-worker-and-installing-a-compatible-Gazebo-and-Ubuntu-combination)
     1. [Iterating on all Gazebo and Ubuntu combinations](#Iterating-on-all-gazebo-ubuntu-combinations)
     1. [Using pre-release and/or nightly Gazebo binaries](#Using-pre-release-and/or-nightly-Gazebo-binaries)
+    1. [Setting up worker to install Gazebo on macOS](#Setting-up-worker-to-install-Gazebo-on-macOS)
 1. [License](#License)
 
 ## Overview
@@ -19,18 +20,20 @@ It is recommended to use the `setup-gazebo` action inside a Docker container due
 
 ## Supported platforms
 
-`setup-gazebo` action works for all non-EOL Gazebo [releases] on [officially] supported platforms (Ubuntu).
-
-> [!NOTE]
-> There is a plan to implement this action for the [best-effort] supported platforms.
+`setup-gazebo` action works for all non-EOL Gazebo [releases] on the following platforms:
+  - Ubuntu
+  - macOS
 
 ## Tasks performed by the action
 
-The `setup-gazebo` action performs the following tasks on an Ubuntu system:
-- Installs `sudo` in case it is missing
-- Sets the locale to `en_US.UTF-8` and timezone to `UTC`
-- Install necessary APT packages
-- Registers the Open Robotics APT repository
+The `setup-gazebo` action performs the following tasks:
+- On Ubuntu:
+  - Installs `sudo` in case it is missing
+  - Sets the locale to `en_US.UTF-8` and timezone to `UTC`
+  - Install necessary APT packages
+  - Registers the Open Robotics APT repository
+- On macOS:
+  - Tapping into OSRF repository using Homebrew
 
 ## Usage
 
@@ -131,7 +134,6 @@ This workflow shows how to use binaries from [pre-release] or [nightly] Gazebo r
 ```yaml
   jobs:
     test_gazebo:
-        name: 'Check installation of Gazebo nightly binary on Ubuntu'
         runs-on: ubuntu-latest
         container:
           image: ubuntu:noble
@@ -150,6 +152,26 @@ This workflow shows how to use binaries from [pre-release] or [nightly] Gazebo r
             run: 'gz sim --versions'
 ```
 
+### Setting up worker to install Gazebo on macOS
+
+This workflow shows how to install Gazebo on a macOS worker. The action needs an input for `required-gazebo-distributions` parameter.
+
+```yaml
+  test_gazebo:
+    runs-on: macos-13
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-node@v4.0.2
+        with:
+          node-version: '20.x'
+      - name: 'Check Gazebo installation on MacOS runner'
+        uses: gazebo-tooling/setup-gazebo@<full_commit_hash>
+        with:
+          required-gazebo-distributions: 'harmonic'
+      - name: 'Test Gazebo installation'
+        run: 'gz sim --versions'
+```
+
 ## License
 
 The scripts and documentation in this project are released under the [Apache 2](LICENSE) license.

__test__/main.test.ts

@@ -2,6 +2,7 @@ import * as core from "@actions/core";
 import * as exec from "@actions/exec";
 
 import * as linux from "../src/setup-gazebo-linux";
+import * as macOs from "../src/setup-gazebo-macos";
 import * as utils from "../src/utils";
 
 describe("workflow test without input", () => {
@@ -16,6 +17,10 @@ describe("workflow test without input", () => {
 	it("run Linux workflow without input", async () => {
 		await expect(linux.runLinux()).rejects.toThrow();
 	});
+
+	it("run macOS workflow without input", async () => {
+		await expect(macOs.runMacOs()).rejects.toThrow();
+	});
 });
 
 describe("workflow test with a invalid distro input", () => {
@@ -31,6 +36,10 @@ describe("workflow test with a invalid distro input", () => {
 	it("run Linux workflow with invalid distro input", async () => {
 		await expect(linux.runLinux()).rejects.toThrow();
 	});
+
+	it("run macOS workflow with invalid distro input", async () => {
+		await expect(macOs.runMacOs()).rejects.toThrow();
+	});
 });
 
 describe("workflow test with a valid distro input", () => {
@@ -46,6 +55,10 @@ describe("workflow test with a valid distro input", () => {
 	it("run Linux workflow with valid distro input", async () => {
 		await expect(linux.runLinux()).resolves.not.toThrow();
 	});
+
+	it("run macOS workflow with valid distro input", async () => {
+		await expect(macOs.runMacOs()).resolves.not.toThrow();
+	});
 });
 
 describe("validate distribution test", () => {

dist/index.js

@@ -26200,12 +26200,7 @@ const aptCommandLine = [
  *
  * This invokation guarantees that APT install will be non-blocking.
  *
- * In particular, it automatically accepts the RTI Connext license, which would block forever otherwise.
- * Skipping the license agreement page requires RTI_NC_LICENSE_ACCEPTED to be set to "yes".
- * This package would normally be installed automatically by rosdep, but
- * there is no way to pass RTI_NC_LICENSE_ACCEPTED through rosdep.
- *
- * @param   packages        list of Debian pacakges to be installed
+ * @param   packages list of Debian pacakges to be installed
  * @returns Promise<number> exit code
  */
 function runAptGetInstall(packages) {
@@ -26216,6 +26211,62 @@ function runAptGetInstall(packages) {
 exports.runAptGetInstall = runAptGetInstall;
 
 
+/***/ }),
+
+/***/ 9586:
+/***/ (function(__unused_webpack_module, exports, __nccwpck_require__) {
+
+"use strict";
+
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || function (mod) {
+    if (mod && mod.__esModule) return mod;
+    var result = {};
+    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
+    __setModuleDefault(result, mod);
+    return result;
+};
+var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
+    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
+    return new (P || (P = Promise))(function (resolve, reject) {
+        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }
+        function rejected(value) { try { step(generator["throw"](value)); } catch (e) { reject(e); } }
+        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }
+        step((generator = generator.apply(thisArg, _arguments || [])).next());
+    });
+};
+Object.defineProperty(exports, "__esModule", ({ value: true }));
+exports.runBrew = void 0;
+const utils = __importStar(__nccwpck_require__(1314));
+/**
+ * Run brew install on a list of specified packages.
+ *
+ * @param   packages list of Homebrew packages to be installed
+ * @returns Promise<number> exit code
+ */
+function runBrew(packages) {
+    return __awaiter(this, void 0, void 0, function* () {
+        return utils.exec("brew", ["install"].concat(packages));
+    });
+}
+exports.runBrew = runBrew;
+
+
 /***/ }),
 
 /***/ 5467:
@@ -26367,6 +26418,71 @@ function runLinux() {
 exports.runLinux = runLinux;
 
 
+/***/ }),
+
+/***/ 8247:
+/***/ (function(__unused_webpack_module, exports, __nccwpck_require__) {
+
+"use strict";
+
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || function (mod) {
+    if (mod && mod.__esModule) return mod;
+    var result = {};
+    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
+    __setModuleDefault(result, mod);
+    return result;
+};
+var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
+    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
+    return new (P || (P = Promise))(function (resolve, reject) {
+        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }
+        function rejected(value) { try { step(generator["throw"](value)); } catch (e) { reject(e); } }
+        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }
+        step((generator = generator.apply(thisArg, _arguments || [])).next());
+    });
+};
+Object.defineProperty(exports, "__esModule", ({ value: true }));
+exports.runMacOs = void 0;
+const utils = __importStar(__nccwpck_require__(1314));
+const brew = __importStar(__nccwpck_require__(9586));
+/**
+ * Tap into OSRF repository
+ */
+function addBrewRepo() {
+    return __awaiter(this, void 0, void 0, function* () {
+        yield utils.exec("brew", ["tap", "osrf/simulation"]);
+    });
+}
+/**
+ * Install Gazebo on MacOS worker
+ */
+function runMacOs() {
+    return __awaiter(this, void 0, void 0, function* () {
+        yield addBrewRepo();
+        for (const gazeboDistro of utils.getRequiredGazeboDistributions()) {
+            yield brew.runBrew([`gz-${gazeboDistro}`]);
+        }
+    });
+}
+exports.runMacOs = runMacOs;
+
+
 /***/ }),
 
 /***/ 525:
@@ -26409,10 +26525,20 @@ var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, ge
 Object.defineProperty(exports, "__esModule", ({ value: true }));
 const core = __importStar(__nccwpck_require__(2186));
 const linux = __importStar(__nccwpck_require__(5467));
+const macOs = __importStar(__nccwpck_require__(8247));
 function run() {
     return __awaiter(this, void 0, void 0, function* () {
         try {
-            linux.runLinux();
+            const platform = process.platform;
+            if (platform === "darwin") {
+                macOs.runMacOs();
+            }
+            else if (platform === "linux") {
+                linux.runLinux();
+            }
+            else {
+                throw new Error(`Unsupported platform ${platform}`);
+            }
         }
         catch (error) {
             let errorMessage = "Unknown error";

src/package_manager/apt.ts

@@ -14,12 +14,7 @@ const aptCommandLine: string[] = [
  *
  * This invokation guarantees that APT install will be non-blocking.
  *
- * In particular, it automatically accepts the RTI Connext license, which would block forever otherwise.
- * Skipping the license agreement page requires RTI_NC_LICENSE_ACCEPTED to be set to "yes".
- * This package would normally be installed automatically by rosdep, but
- * there is no way to pass RTI_NC_LICENSE_ACCEPTED through rosdep.
- *
- * @param   packages        list of Debian pacakges to be installed
+ * @param   packages list of Debian pacakges to be installed
  * @returns Promise<number> exit code
  */
 export async function runAptGetInstall(packages: string[]): Promise<number> {

src/package_manager/brew.ts

@@ -0,0 +1,11 @@
+import * as utils from "../utils";
+
+/**
+ * Run brew install on a list of specified packages.
+ *
+ * @param   packages list of Homebrew packages to be installed
+ * @returns Promise<number> exit code
+ */
+export async function runBrew(packages: string[]): Promise<number> {
+	return utils.exec("brew", ["install"].concat(packages));
+}

src/setup-gazebo-macos.ts

@@ -0,0 +1,20 @@
+import * as utils from "./utils";
+import * as brew from "./package_manager/brew";
+
+/**
+ * Tap into OSRF repository
+ */
+async function addBrewRepo() {
+	await utils.exec("brew", ["tap", "osrf/simulation"]);
+}
+
+/**
+ * Install Gazebo on MacOS worker
+ */
+export async function runMacOs() {
+	await addBrewRepo();
+
+	for (const gazeboDistro of utils.getRequiredGazeboDistributions()) {
+		await brew.runBrew([`gz-${gazeboDistro}`]);
+	}
+}

src/setup-gazebo.ts

@@ -1,9 +1,17 @@
 import * as core from "@actions/core";
 import * as linux from "./setup-gazebo-linux";
+import * as macOs from "./setup-gazebo-macos";
 
 async function run() {
 	try {
-		linux.runLinux();
+		const platform = process.platform;
+		if (platform === "darwin") {
+			macOs.runMacOs();
+		} else if (platform === "linux") {
+			linux.runLinux();
+		} else {
+			throw new Error(`Unsupported platform ${platform}`);
+		}
 	} catch (error) {
 		let errorMessage = "Unknown error";
 		if (error instanceof Error) {