bazelized_drake_ros.yml

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@v4
      - name: Free up space
        run: .github/runner_free_space.sh

      # Caching.
      # See comments in drake-blender for more details:
      # https://github.com/RobotLocomotion/drake-blender/blob/c4a33f80/.github/workflows/main.yml
      - uses: actions/cache/restore@v3
        with:
          path: "~/.cache/bazel_ci"
          # We want this key to change to ensure we store the updated cache.
          key: bazel_ci-${{ github.ref }}-${{ github.run_number }}-${{ github.run_attempt }}
          restore-keys: |
            bazel_ci-${{ github.ref }}-
            bazel_ci-refs/heads/main-
      - name: Check cache
        run: du -hs $(readlink -f ~/.cache/bazel_ci) || true

      # Setup.
      - 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/setup-ros@v0.4
      - 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
          sudo rm -rf /var/lib/apt/lists/*
      - name: Use GCC 11, until GCC 13 works with drake's clang
        run: sudo apt purge gcc-13 libgcc-13-dev g++-13 libstdc++-13-dev gcc-12 libgcc-12-dev g++-12 libstdc++-12-dev && sudo apt install gcc-11 g++-11 && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 100 --slave /usr/bin/g++ g++ /usr/bin/g++-11
        working-directory: drake_ros
      - 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
          sudo rm -rf /var/lib/apt/lists/*
      # CI for drake_ros.
      - name: Install drake_ros's dependencies
        run: yes | sudo ./setup/install_prereqs.sh
        working-directory: drake_ros
      - name: Build drake_ros
        run: export ROS_DISTRO=humble; bazel build //...
        working-directory: drake_ros
      - name: Test drake_ros
        run: export ROS_DISTRO=humble; bazel test //...
        working-directory: drake_ros
      - name: Clean up drake_ros
        run: bazel clean
        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
          sudo rm -rf /var/lib/apt/lists/*
        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
      - name: Clean up drake_ros_examples
        run: bazel clean
        working-directory: drake_ros_examples
      # Save the updated cache snapshots, so we never do the same work twice.
      # By default, actions/cache only saves after a successful workflow, but
      # our caches are bags of files where we only ever add new files (not change
      # an existing files), so it's always safe to snapshot.
      - uses: actions/cache/save@v3
        if: always()
        with:
          path: "~/.cache/bazel_ci"
          key: bazel_ci-${{ github.ref }}-${{ github.run_number }}-${{ github.run_attempt }}