Disconnection fixes #80
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| name: CI-Core | |
| on: | |
| workflow_dispatch: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| branches: | |
| - master | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build_and_test: | |
| strategy: | |
| matrix: | |
| ROS_DISTRO: [humble, jazzy] | |
| runs-on: ${{ matrix.ROS_DISTRO == 'humble' && 'ubuntu-22.04' || 'ubuntu-24.04' }} | |
| container: ros:${{ matrix.ROS_DISTRO }}-perception | |
| env: | |
| ROS_DISTRO: ${{ matrix.ROS_DISTRO }} | |
| TZ: 'Europe/Warsaw' | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| steps: | |
| - name: Install ament linting tools | |
| run: | | |
| apt-get update | |
| apt-get install -y \ | |
| ros-${{ matrix.ROS_DISTRO }}-ament-black \ | |
| ros-${{ matrix.ROS_DISTRO }}-ament-cpplint \ | |
| ros-${{ matrix.ROS_DISTRO }}-ament-uncrustify \ | |
| ros-${{ matrix.ROS_DISTRO }}-ament-lint-cmake \ | |
| ros-${{ matrix.ROS_DISTRO }}-ament-xmllint | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| path: src/scorpio_utils | |
| submodules: 'recursive' | |
| - name: Setup ROS2 workspace | |
| run: | | |
| # Create workspace directory structure | |
| mkdir -p /workspace/src | |
| # Move checked out code to proper workspace location | |
| mv src/scorpio_utils /workspace/src/ | |
| # This is how we can pull one of our private repositories | |
| # - name: Clone ScorpioOrganization external_packages repo | |
| # uses: actions/checkout@v4 | |
| # with: | |
| # repository: scorpioOrganization/external_packages | |
| # path: /workspace/src/external_packages | |
| # ref: master | |
| # token: ${{ secrets.IGOR_GITHUB_KEY }} | |
| # Run ros2 linters | |
| - name: Run ament_cpplint | |
| shell: bash | |
| working-directory: /workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| cd src/scorpio_utils | |
| find . -name "*.cpp" -o -name "*.hpp" -o -name "*.h" -o -name "*.cc" -o -name "*.cxx" -o -name "*.hh" -o -name "*.hxx" | grep -v external_packages | xargs -r ament_cpplint | |
| - name: Run ament_uncrustify | |
| if: matrix.ROS_DISTRO == 'humble' | |
| shell: bash | |
| working-directory: /workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| cd src/scorpio_utils | |
| find . -name "*.cpp" -o -name "*.hpp" -o -name "*.h" -o -name "*.cc" -o -name "*.cxx" -o -name "*.hh" -o -name "*.hxx" | grep -v external_packages | xargs -r ament_uncrustify -c /workspace/src/scorpio_utils/uncrustify.cfg | |
| - name: Run ament_black | |
| if: matrix.ROS_DISTRO == 'humble' | |
| shell: bash | |
| working-directory: /workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| cd src/scorpio_utils | |
| find . -name "*.py" -not -path "*/launch/*" -not -path "*launch_ROS2*" -not -path "*external_packages*" | xargs -r ament_black | |
| - name: Run ament_lint_cmake | |
| if: matrix.ROS_DISTRO == 'humble' | |
| shell: bash | |
| working-directory: /workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| cd src/scorpio_utils | |
| find . -name "CMakeLists.txt" | grep -v external_packages | xargs -r ament_lint_cmake | |
| - name: Run ament_xmllint | |
| if: matrix.ROS_DISTRO == 'humble' | |
| shell: bash | |
| working-directory: /workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| cd src/scorpio_utils | |
| find . -name "*.xml" | grep -v external_packages | xargs -r ament_xmllint | |
| - name: Set timezone and install additional dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -y \ | |
| ccache \ | |
| libpcl-dev \ | |
| libgstreamer1.0-dev \ | |
| libgstreamer-plugins-base1.0-dev \ | |
| tzdata | |
| ln -snf /usr/share/zoneinfo/Europe/Warsaw /etc/localtime | |
| echo 'Europe/Warsaw' > /etc/timezone | |
| - name: Cache build artifacts - ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: ${{ github.workspace }}/.ccache | |
| key: ${{ runner.os }}-${{ runner.arch }}-ccache-${{ matrix.ROS_DISTRO }}-${{ github.ref }}-${{ steps.calculate_hash.outputs.C_FILES_HASH }} | |
| restore-keys: | | |
| ${{ runner.os }}-${{ runner.arch }}-ccache-${{ matrix.ROS_DISTRO }}-${{ github.ref }}- | |
| ${{ runner.os }}-${{ runner.arch }}-ccache-${{ matrix.ROS_DISTRO }}-refs/heads/master- | |
| ${{ runner.os }}-${{ runner.arch }}-ccache-${{ matrix.ROS_DISTRO }}- | |
| - name: Update rosdep | |
| shell: bash | |
| working-directory: /workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| rosdep update | |
| - name: Install dependencies with rosdep | |
| shell: bash | |
| working-directory: /workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build workspace | |
| shell: bash | |
| working-directory: /workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| export CMAKE_CXX_COMPILER_LAUNCHER=ccache | |
| export CMAKE_C_COMPILER_LAUNCHER=ccache | |
| colcon build \ | |
| --symlink-install \ | |
| --cmake-args \ | |
| -DCMAKE_BUILD_TYPE=Release \ | |
| -DCMAKE_VERBOSE_MAKEFILE=OFF \ | |
| -Wno-dev | |
| - name: Run tests | |
| shell: bash | |
| working-directory: /workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| source install/setup.bash | |
| colcon test --return-code-on-test-failure | |
| - name: Show test results | |
| if: always() | |
| working-directory: /workspace | |
| run: | | |
| colcon test-result --verbose |