CI #1670
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| # 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://git.luolix.topmunity/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/action-ros-ci@v0.2 | |
| 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+" |