CI #1581
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # the "if" flag with event.json is for running the workflow locally with `act`. | |
| name: CI | |
| on: | |
| push: | |
| pull_request: | |
| branches: | |
| - ros2 | |
| - master | |
| schedule: # Trigger a job on master at midnight UTC every day | |
| - cron: '0 0 * * *' | |
| env: | |
| PACKAGES_TO_TEST: # This limits the packages that are checked in CI. This is to avoid testing upstream packages passed in via .repos files. | |
| uwrt_mars_rover | |
| uwrt_mars_rover_drivetrain | |
| uwrt_mars_rover_drivetrain_description | |
| uwrt_mars_rover_drivetrain_hw | |
| ROS_DISTRO: galactic | |
| IMAGE: "rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-desktop-latest" | |
| jobs: | |
| prepare-actions-environment: | |
| if: ${{ !github.event.act }} | |
| # workaround to use variable for IMAGE. Based off of: https://github.community/t/how-to-use-env-with-container-image/17252/25 | |
| runs-on: ubuntu-latest | |
| outputs: | |
| image: ${{ steps.export_variable.outputs.image }} | |
| steps: | |
| - id: export_variable | |
| run: echo "::set-output name=image::${{ env.IMAGE }}" | |
| linters: | |
| if: ${{ !github.event.act }} | |
| name: ament-${{ matrix.linter }} | |
| needs: prepare-actions-environment | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ${{ needs.prepare-actions-environment.outputs.image }} | |
| options: -u root | |
| strategy: | |
| fail-fast: false # We want all the linters to run even if one fails | |
| matrix: | |
| linter: [ cppcheck, xmllint ] | |
| steps: | |
| - name: Checkout Repository | |
| uses: actions/checkout@v3 | |
| - name: ROS2 Linter - [ament-${{ matrix.linter }}] | |
| uses: ros-tooling/action-ros-lint@master | |
| with: | |
| distribution: ${{ env.ROS_DISTRO }} | |
| linter: ${{ matrix.linter }} | |
| package-name: ${{ env.PACKAGES_TO_TEST }} | |
| linters-clang-format: | |
| if: ${{ !github.event.act }} | |
| name: ament-clang-format | |
| needs: prepare-actions-environment | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ${{ needs.prepare-actions-environment.outputs.image }} | |
| options: -u root | |
| steps: | |
| - name: Checkout Repository | |
| uses: actions/checkout@v3 | |
| - name: ROS2 Linter - [ament-clang-format] | |
| uses: ros-tooling/action-ros-lint@master | |
| with: | |
| distribution: ${{ env.ROS_DISTRO }} | |
| linter: clang-format | |
| arguments: "--config .clang-format" | |
| package-name: ${{ env.PACKAGES_TO_TEST }} | |
| linters-flake8: | |
| if: ${{ !github.event.act }} | |
| name: ament-flake8 | |
| needs: prepare-actions-environment | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ${{ needs.prepare-actions-environment.outputs.image }} | |
| options: -u root | |
| steps: | |
| - name: Checkout Repository | |
| uses: actions/checkout@v3 | |
| - name: ROS2 Linter - [ament-flake8] | |
| uses: ros-tooling/action-ros-lint@master | |
| with: | |
| distribution: ${{ env.ROS_DISTRO }} | |
| linter: flake8 | |
| arguments: "--config .flake8" | |
| package-name: ${{ env.PACKAGES_TO_TEST }} | |
| linux-amd64-build-and-test: | |
| needs: prepare-actions-environment | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ${{ needs.prepare-actions-environment.outputs.image }} | |
| steps: | |
| - name: Build ROS2 Packages and Run Tests | |
| uses: ros-tooling/[email protected] | |
| with: | |
| colcon-defaults: | | |
| { | |
| "build": { | |
| "mixin": ["asan-gcc"] | |
| } | |
| } | |
| colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/3e627e0fa30db85aea05a50e2c61a9832664d236/index.yaml | |
| target-ros2-distro: ${{ env.ROS_DISTRO }} | |
| vcs-repo-file-url: | | |
| https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/common_upstream_dependencies.repos | |
| package-name: ${{ env.PACKAGES_TO_TEST }} | |
| linux-arm64-build-and-test: | |
| runs-on: ubuntu-latest | |
| # Cannot use action-ros-ci since cant trigger action steps from within the docker container. Must use `docker exec` | |
| # to run actions within docker container since we cannot directly use arm64v8/ros:${{ env.ROS_DISTRO }} container because there | |
| # exists no way of setting up Docker to work with Qemu before loading a docker image onto the Github Action runner. | |
| # Possibly resolveable with https://github.com/actions/runner/issues/320 | |
| steps: | |
| - name: Checkout Repository | |
| uses: actions/checkout@v3 | |
| - name: Install Docker/QEMU dependencies | |
| id: qemu | |
| uses: docker/setup-qemu-action@v2 | |
| with: | |
| image: tonistiigi/binfmt:latest | |
| platforms: arm64 | |
| - name: Setup Docker to Run ARM64 Containers in QEMU | |
| run: | | |
| docker run --privileged --rm multiarch/qemu-user-static --reset --credential yes --persistent yes | |
| - name: Start ARM64 ROS2 Container | |
| run: | | |
| docker run --name arm64-ros --mount type=bind,source=$(pwd),target=/rosws/src/$(basename $(pwd)) --workdir /rosws --detach -i --rm arm64v8/ros:${{ env.ROS_DISTRO }} | |
| - name: Download ROS Source Dependencies | |
| run: | | |
| docker exec --workdir /rosws/src arm64-ros vcs import --input uwrt_mars_rover/common_upstream_dependencies.repos | |
| # TODO: add linux_arm64_upstream_dependencies.repos | |
| - name: Install ROS Binary Package Dependencies | |
| run: | | |
| docker exec arm64-ros sudo apt update | |
| docker exec arm64-ros rosdep install -r --from-paths . --ignore-src --rosdistro ${{ env.ROS_DISTRO }} -y | |
| - name: Build ROS2 Packages and Run Tests | |
| run: > | |
| docker exec arm64-ros bash -c "source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash && | |
| colcon build --event-handlers console_cohesion+ && | |
| colcon test --packages-select ${{ env.PACKAGES_TO_TEST }} --return-code-on-test-failure --event-handlers console_cohesion+" |