Support for ros launch #463
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| name: Bazel Drake-ROS Continuous Integration | |
| on: | |
| push: | |
| branches: | |
| - main | |
| - develop | |
| pull_request: | |
| branches: | |
| - main | |
| - develop | |
| jobs: | |
| bazel_build_and_test: | |
| if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')" | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - uses: actions/cache@v3 | |
| with: | |
| path: "/home/runner/.cache/ci" | |
| key: bazel | |
| - name: Check cache | |
| run: du -hs $(readlink -f /home/runner/.cache/ci) | |
| - name: Simplify apt upgrades | |
| run: .github/simplify_apt_and_upgrades.sh | |
| - name: Configure drake_ros Bazel for CI | |
| run: ln -s ../.github/ci.bazelrc ./user.bazelrc | |
| working-directory: drake_ros | |
| - name: Install ROS tools (like rosdep) | |
| uses: ros-tooling/[email protected] | |
| - name: Update rosdep data | |
| run: rosdep update | |
| - name: Install bazel_ros2_rules dependencies | |
| # TODO(sloretz) make bazel_ros2_rules/setup/install_prereqs.sh | |
| run: sudo apt install python3 python3-toposort | |
| - name: Download Drake | |
| run: bazel build @drake//:module_py | |
| working-directory: drake_ros | |
| - name: Install Drake's dependencies | |
| run: yes | sudo ./bazel-drake_ros/external/drake/setup/ubuntu/install_prereqs.sh | |
| working-directory: drake_ros | |
| - name: Install ROS tarball's dependencies | |
| # TODO(sloretz) can't use rosdep here because we need the archive downloaded, | |
| # but can't download the archive with bazel until we have the dependencies installed | |
| # so bazel_ros2_rules can inspect it. | |
| run: sudo apt-get install -y libconsole-bridge-dev | |
| # CI for drake_ros. | |
| - name: Build drake_ros | |
| run: bazel build //... | |
| working-directory: drake_ros | |
| - name: Test drake_ros | |
| run: bazel test //... | |
| working-directory: drake_ros | |
| # CI for drake_ros_examples. | |
| - name: Install additional ROS dependencies for drake_ros_examples | |
| run: yes | sudo ./setup/install_prereqs.sh | |
| working-directory: drake_ros_examples | |
| - name: Configure drake_ros_examples Bazel for CI | |
| run: ln -s ../.github/ci.bazelrc ./user.bazelrc | |
| working-directory: drake_ros_examples | |
| - name: Build drake_ros_examples | |
| run: bazel build //... | |
| working-directory: drake_ros_examples | |
| - name: Test drake_ros_examples | |
| run: bazel test //... | |
| working-directory: drake_ros_examples |