CI #175
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| name: CI | |
| on: | |
| push: | |
| branches: [ trunk ] | |
| pull_request: | |
| branches: [ trunk, main, '**' ] | |
| schedule: | |
| - cron: '17 3 * * *' | |
| workflow_dispatch: | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| changes: | |
| name: Detect Changes | |
| runs-on: ubuntu-22.04 | |
| outputs: | |
| code: ${{ steps.filter.outputs.code }} | |
| mapping: ${{ steps.filter.outputs.mapping }} | |
| tests: ${{ steps.filter.outputs.tests }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - id: filter | |
| uses: dorny/paths-filter@v3 | |
| with: | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| filters: | | |
| code: | |
| - 'alpha_ws/**' | |
| - 'alpha_configs/**' | |
| - 'scripts/**' | |
| - 'deploy/**' | |
| - '.github/workflows/ci.yml' | |
| - '!**/*.md' | |
| mapping: | |
| - 'alpha_ws/src/alpha_mapping/**' | |
| - 'alpha_ws/src/**/alpha_mapping*' | |
| tests: | |
| - 'alpha_ws/src/**/test/**' | |
| docs: | |
| name: Docs Validation | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| - name: Install pre-commit | |
| run: pipx install pre-commit | |
| - name: Run pre-commit (agents index + validate) | |
| env: | |
| AGENTS_INDEX_NO_DATE: "1" | |
| run: | | |
| pre-commit run --all-files || (echo 'Expected to update docs/AGENTS_INDEX.md; please commit.' && git --no-pager diff && exit 1) | |
| build: | |
| name: ROS 2 Build (Humble) | |
| runs-on: ubuntu-22.04 | |
| needs: changes | |
| if: needs.changes.outputs.code == 'true' | |
| env: | |
| ALPHA_WS: alpha_ws | |
| PKG_TARGET: "" | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Enforce test markers (unit/integration) | |
| run: | | |
| python3 - <<'PY' | |
| import glob, sys | |
| bad=[] | |
| for f in glob.glob('alpha_ws/src/**/test/test_*.py', recursive=True): | |
| s=open(f,'r',encoding='utf-8').read() | |
| if '@pytest.mark.unit' not in s and '@pytest.mark.integration' not in s: | |
| bad.append(f) | |
| if bad: | |
| print("Tests missing @pytest.mark.unit or @pytest.mark.integration:") | |
| print(*("- "+b for b in bad), sep="\n") | |
| sys.exit(1) | |
| PY | |
| - name: Setup ROS 2 apt sources | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: humble | |
| - name: Configure apt | |
| run: | | |
| echo 'Acquire::Retries "3";' | sudo tee /etc/apt/apt.conf.d/80-retries | |
| echo 'APT::Get::Assume-Yes "true";' | sudo tee /etc/apt/apt.conf.d/90-assume-yes | |
| sudo apt-get update | |
| - name: Cache rosdep metadata | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ~/.ros/rosdep/sources.cache | |
| ~/.ros/rosdep/sources.list.d | |
| key: rosdep-${{ runner.os }}-${{ hashFiles('**/package.xml') }} | |
| restore-keys: | | |
| rosdep-${{ runner.os }}- | |
| - name: Install base build tools | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| ros-humble-ros-base \ | |
| ros-humble-pluginlib \ | |
| ros-humble-rclpy \ | |
| ros-humble-rclcpp \ | |
| ros-humble-std-msgs \ | |
| ros-humble-sensor-msgs \ | |
| python3-colcon-common-extensions \ | |
| python3-colcon-ros \ | |
| ros-dev-tools \ | |
| build-essential \ | |
| cmake \ | |
| python3-setuptools \ | |
| python3-pip \ | |
| python3-wheel \ | |
| python3-rosdep \ | |
| libyaml-cpp-dev \ | |
| libcurl4-openssl-dev \ | |
| python3-pytest \ | |
| ros-humble-std-srvs \ | |
| ros-humble-diagnostic-msgs | |
| python3 -m pip install --user --upgrade pip | |
| python3 -m pip install --user pyyaml jsonschema pytest | |
| - name: Install ccache | |
| run: sudo apt-get install -y ccache | |
| - name: Cache ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: ~/.ccache | |
| key: ccache-${{ runner.os }}-${{ hashFiles('**/CMakeLists.txt','**/*.cmake','**/package.xml') }} | |
| restore-keys: | | |
| ccache-${{ runner.os }}- | |
| - name: Configure ccache | |
| run: | | |
| mkdir -p ~/.ccache | |
| echo 'max_size = 2G' > ~/.ccache/ccache.conf | |
| - name: Resolve ROS package deps (rosdep) | |
| shell: bash | |
| run: | | |
| set -euxo pipefail | |
| # Initialize rosdep databases if needed | |
| sudo rosdep init || true | |
| # Retry rosdep update in case of transient network hiccups | |
| for i in 1 2 3; do | |
| if rosdep update; then | |
| break | |
| fi | |
| echo "rosdep update failed (attempt $i). Retrying..." | |
| sleep 5 | |
| done | |
| # Attempt to install dependencies from package.xml files | |
| set +e | |
| rosdep install --rosdistro humble --from-paths "$ALPHA_WS" -i -y | |
| rc=$? | |
| set -e | |
| if [ $rc -ne 0 ]; then | |
| echo "::warning::rosdep install failed with code $rc. Falling back to apt for common ROS deps." | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| ros-humble-rosidl-default-generators \ | |
| ros-humble-rosidl-default-runtime \ | |
| ros-humble-std-msgs \ | |
| ros-humble-diagnostic-msgs \ | |
| ros-humble-rclpy \ | |
| python3-yaml || true | |
| fi | |
| - name: Show discovered packages | |
| shell: bash | |
| run: | | |
| cd "$ALPHA_WS" || exit 0 | |
| colcon list || true | |
| - name: Build (core packages; skip alpha_mapping) | |
| shell: bash | |
| run: | | |
| set -euo pipefail | |
| # Work around ROS 2 setup scripts referencing unset vars under -u | |
| set +u | |
| source /opt/ros/humble/setup.bash | |
| set -u | |
| cd "$ALPHA_WS" | |
| colcon build --merge-install \ | |
| --packages-skip alpha_mapping \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ | |
| -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache | |
| - name: Validate configs (jsonschema) | |
| shell: bash | |
| run: | | |
| # Run config schema validation from repo root | |
| python3 scripts/validate_configs.py | |
| # Skip colcon test for now; rely on targeted pytest step below | |
| - name: Unit tests (gating) | |
| shell: bash | |
| run: | | |
| set -euo pipefail | |
| # Source ROS 2 and the built workspace so generated Python interfaces are importable | |
| set +u | |
| source /opt/ros/humble/setup.bash | |
| [ -f alpha_ws/install/setup.bash ] && source alpha_ws/install/setup.bash | |
| set -u | |
| # Run package unit tests directly with pytest | |
| python3 -m pytest -m unit -q | |
| mapping-build: | |
| name: ROS 2 Build (Humble) — mapping (non-gating) | |
| needs: changes | |
| if: ${{ needs.changes.outputs.mapping == 'true' || github.event_name == 'schedule' || github.event_name == 'workflow_dispatch' }} | |
| runs-on: ubuntu-22.04 | |
| continue-on-error: true | |
| env: | |
| ALPHA_WS: alpha_ws | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup ROS 2 apt sources | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: humble | |
| - name: Configure apt | |
| run: | | |
| echo 'Acquire::Retries "3";' | sudo tee /etc/apt/apt.conf.d/80-retries | |
| echo 'APT::Get::Assume-Yes "true";' | sudo tee /etc/apt/apt.conf.d/90-assume-yes | |
| sudo apt-get update | |
| - name: Cache rosdep metadata | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ~/.ros/rosdep/sources.cache | |
| ~/.ros/rosdep/sources.list.d | |
| key: rosdep-${{ runner.os }}-${{ hashFiles('**/package.xml') }} | |
| restore-keys: | | |
| rosdep-${{ runner.os }}- | |
| - name: Install base build tools (mapping) | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| ros-humble-ros-base \ | |
| ros-humble-pluginlib \ | |
| ros-humble-rclcpp \ | |
| ros-humble-sensor-msgs \ | |
| ros-humble-std-msgs \ | |
| python3-colcon-common-extensions \ | |
| python3-colcon-ros \ | |
| ros-dev-tools \ | |
| build-essential \ | |
| cmake \ | |
| python3-setuptools \ | |
| python3-pip \ | |
| python3-wheel \ | |
| python3-rosdep \ | |
| libyaml-cpp-dev \ | |
| libcurl4-openssl-dev \ | |
| python3-pytest \ | |
| ros-humble-std-srvs \ | |
| ros-humble-diagnostic-msgs | |
| python3 -m pip install --user --upgrade pip | |
| python3 -m pip install --user pyyaml jsonschema pytest | |
| - name: Install ccache | |
| run: sudo apt-get install -y ccache | |
| - name: Cache ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: ~/.ccache | |
| key: ccache-${{ runner.os }}-${{ hashFiles('**/CMakeLists.txt','**/*.cmake','**/package.xml') }} | |
| restore-keys: | | |
| ccache-${{ runner.os }}- | |
| - name: Configure ccache | |
| run: | | |
| mkdir -p ~/.ccache | |
| echo 'max_size = 2G' > ~/.ccache/ccache.conf | |
| - name: Resolve mapping deps (rosdep) | |
| run: | | |
| sudo rosdep init || true | |
| rosdep update || true | |
| rosdep install --rosdistro humble --from-paths "$ALPHA_WS/src/alpha_mapping" -i -y || true | |
| - name: Build alpha_mapping only (Release) | |
| run: | | |
| set +u | |
| source /opt/ros/humble/setup.bash | |
| set -u | |
| cd "$ALPHA_WS" | |
| colcon build --merge-install \ | |
| --packages-select alpha_mapping \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ | |
| -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache 2>&1 | tee ../mapping-build.log | |
| - name: Upload mapping build log | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: mapping-build-log | |
| path: mapping-build.log | |
| integration-tests: | |
| name: Integration tests (non-gating) | |
| needs: changes | |
| if: ${{ needs.changes.outputs.tests == 'true' || github.event_name == 'schedule' || github.event_name == 'workflow_dispatch' }} | |
| runs-on: ubuntu-22.04 | |
| continue-on-error: true | |
| env: | |
| ALPHA_WS: alpha_ws | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup ROS 2 apt sources | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: humble | |
| - name: Configure apt | |
| run: | | |
| echo 'Acquire::Retries "3";' | sudo tee /etc/apt/apt.conf.d/80-retries | |
| echo 'APT::Get::Assume-Yes "true";' | sudo tee /etc/apt/apt.conf.d/90-assume-yes | |
| sudo apt-get update | |
| - name: Cache rosdep metadata | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ~/.ros/rosdep/sources.cache | |
| ~/.ros/rosdep/sources.list.d | |
| key: rosdep-${{ runner.os }}-${{ hashFiles('**/package.xml') }} | |
| restore-keys: | | |
| rosdep-${{ runner.os }}- | |
| - name: Install base build tools (integration) | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| ros-humble-ros-base \ | |
| ros-humble-pluginlib \ | |
| ros-humble-rclpy \ | |
| ros-humble-rclcpp \ | |
| ros-humble-std-msgs \ | |
| ros-humble-sensor-msgs \ | |
| python3-colcon-common-extensions \ | |
| python3-colcon-ros \ | |
| ros-dev-tools \ | |
| build-essential \ | |
| cmake \ | |
| python3-setuptools \ | |
| python3-pip \ | |
| python3-wheel \ | |
| python3-rosdep \ | |
| libyaml-cpp-dev \ | |
| libcurl4-openssl-dev \ | |
| python3-pytest \ | |
| ros-humble-std-srvs \ | |
| ros-humble-diagnostic-msgs | |
| python3 -m pip install --user --upgrade pip | |
| python3 -m pip install --user pyyaml jsonschema pytest | |
| - name: Install ccache | |
| run: sudo apt-get install -y ccache | |
| - name: Cache ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: ~/.ccache | |
| key: ccache-${{ runner.os }}-${{ hashFiles('**/CMakeLists.txt','**/*.cmake','**/package.xml') }} | |
| restore-keys: | | |
| ccache-${{ runner.os }}- | |
| - name: Configure ccache | |
| run: | | |
| mkdir -p ~/.ccache | |
| echo 'max_size = 2G' > ~/.ccache/ccache.conf | |
| - name: Resolve deps (workspace) | |
| run: | | |
| sudo rosdep init || true | |
| rosdep update || true | |
| rosdep install --rosdistro humble --from-paths "$ALPHA_WS/src" -i -y || true | |
| - name: Build (Release, merge-install) | |
| run: | | |
| set +u | |
| source /opt/ros/humble/setup.bash | |
| set -u | |
| cd "$ALPHA_WS" | |
| colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \ | |
| -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache | |
| - name: Run integration tests (pytest -m integration) | |
| run: | | |
| set +u | |
| source /opt/ros/humble/setup.bash | |
| source alpha_ws/install/setup.bash | |
| set -u | |
| python3 -m pytest -m integration -q || true |