Python API #24
Workflow file for this run
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
| name: ROS1 Interface | |
| on: | |
| pull_request: | |
| branches: [ main ] | |
| env: | |
| DOCKER_REGISTRY: ghcr.io | |
| DOCKER_CI_IMAGE_NAME: ci_wavemap_ros1 | |
| USER_HOME: /home/ci | |
| CATKIN_WS_PATH: /home/ci/catkin_ws | |
| CCACHE_DIR: /home/ci/ccache | |
| PRE_COMMIT_DIR: /home/ci/pre-commit | |
| jobs: | |
| workspace-container: | |
| name: Build ROS1 container | |
| runs-on: ubuntu-20.04 | |
| outputs: | |
| image: ${{ steps.ref-names.outputs.ci_image }} | |
| steps: | |
| - name: Common variables | |
| id: ref-names | |
| run: | | |
| echo "cache=${{ env.DOCKER_REGISTRY }}/ethz-asl/${{ env.DOCKER_CI_IMAGE_NAME }}:buildcache" >> $GITHUB_OUTPUT | |
| echo "ci_image=${{ env.DOCKER_REGISTRY }}/ethz-asl/${{ env.DOCKER_CI_IMAGE_NAME }}:${{ github.sha }}" >> $GITHUB_OUTPUT | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| with: | |
| path: ${{ github.repository }} | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| - name: Log in to ${{ env.DOCKER_REGISTRY }} registry | |
| uses: docker/[email protected] | |
| with: | |
| registry: ${{ env.DOCKER_REGISTRY }} | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Build the image | |
| uses: docker/build-push-action@v6 | |
| env: | |
| DOCKER_BUILD_SUMMARY: false | |
| DOCKER_BUILD_RECORD_UPLOAD: false | |
| with: | |
| context: ${{ github.repository }} | |
| file: ${{ github.repository }}/tooling/docker/ros1/full.Dockerfile | |
| target: workspace | |
| build-args: | | |
| REPOSITORY_NAME=${{ github.repository }} | |
| USER_HOME=${{ env.USER_HOME }} | |
| CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }} | |
| CCACHE_DIR=${{ env.CCACHE_DIR }} | |
| load: true | |
| cache-from: type=registry,ref=${{ steps.ref-names.outputs.cache }} | |
| cache-to: type=registry,mode=max,ref=${{ steps.ref-names.outputs.cache }} | |
| tags: ${{ steps.ref-names.outputs.ci_image }} | |
| - name: Test the image | |
| run: docker run --rm ${{ steps.ref-names.outputs.ci_image }} | |
| - name: Push the image | |
| uses: docker/build-push-action@v6 | |
| env: | |
| DOCKER_BUILD_SUMMARY: false | |
| DOCKER_BUILD_RECORD_UPLOAD: false | |
| with: | |
| context: ${{ github.repository }} | |
| file: ${{ github.repository }}/tooling/docker/ros1/full.Dockerfile | |
| target: workspace | |
| build-args: | | |
| REPOSITORY_NAME=${{ github.repository }} | |
| USER_HOME=${{ env.USER_HOME }} | |
| CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }} | |
| CCACHE_DIR=${{ env.CCACHE_DIR }} | |
| push: true | |
| cache-from: type=registry,ref=${{ steps.ref-names.outputs.cache }} | |
| tags: ${{ steps.ref-names.outputs.ci_image }} | |
| build: | |
| name: Build | |
| needs: workspace-container | |
| runs-on: ubuntu-20.04 | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: hendrikmuhs/[email protected] | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-ros1 | |
| create-symlink: true | |
| - name: Build all wavemap packages | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| catkin build wavemap_all --no-status --force-color | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| install: | |
| name: Install | |
| needs: [ workspace-container, build ] | |
| runs-on: ubuntu-20.04 | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: hendrikmuhs/[email protected] | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-ros1 | |
| create-symlink: true | |
| - name: Enable catkin install mode | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| catkin config --install | |
| catkin clean -bdi -y | |
| - name: Build all wavemap packages | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| . /opt/ros/noetic/setup.sh | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| catkin build wavemap_all --no-status --force-color | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| test: | |
| name: Test | |
| needs: [ workspace-container, build ] | |
| runs-on: ubuntu-20.04 | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: hendrikmuhs/[email protected] | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-ros1 | |
| create-symlink: true | |
| - name: Build regular code | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: catkin build wavemap_all --no-status --force-color --cmake-args -DDCHECK_ALWAYS_ON=ON | |
| - name: Build unit tests | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| catkin build wavemap_all --no-status --force-color --no-deps --cmake-args -DDCHECK_ALWAYS_ON=ON --catkin-make-args tests | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| - name: Run unit tests | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| all_tests_passed=1 | |
| source devel/setup.bash | |
| for f in devel/lib/wavemap*/test_* | |
| do $f --gtest_color=yes || all_tests_passed=0 | |
| done | |
| if [ $all_tests_passed -ne 1 ]; then | |
| echo "Not all tests passed!" | |
| exit 1 | |
| fi |