Port pinhole camera from ROS1 #58
Workflow file for this run
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| name: CI | |
| on: | |
| # Run if someone manually presses the button in the GitHub Actions UI | |
| workflow_dispatch: | |
| # Run when a PR is opened or updated | |
| pull_request: | |
| # Run when a commit is pushed to main | |
| push: | |
| branches: | |
| - main | |
| permissions: | |
| # Allow reading the source code | |
| contents: read | |
| # Allow writing built containers to GitHub Package Registry | |
| packages: write | |
| jobs: | |
| build-ws: | |
| name: Build colcon workspace | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - name: Checkout source | |
| uses: actions/checkout@v4 | |
| - name: Setup Docker Buildx | |
| uses: docker/setup-buildx-action@v2 | |
| # Log into GitHub Container Registry so we can push an image | |
| - name: Log in to GHCR | |
| uses: docker/login-action@v2 | |
| with: | |
| registry: ghcr.io | |
| username: ${{ github.repository_owner }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| # Build the Dockerfile and push the image to the private GitHub Container Registry on this repo | |
| - name: Build workspace | |
| uses: docker/build-push-action@v4 | |
| with: | |
| context: . | |
| # run_id is unique to a particular run of this workflow so shouldn't clobber | |
| tags: ghcr.io/picknikrobotics/fuse:${{ github.run_id }} | |
| push: true | |
| # This project is small enough that caching to GitHub Actions should be fine (it has a 10GB cache limit) | |
| cache-to: type=gha,mode=max | |
| cache-from: type=gha | |
| test-ws: | |
| name: Test colcon workspace | |
| needs: | |
| # Ensure the test job runs after the build job finishes instead of attempting to run in parallel | |
| - build-ws | |
| runs-on: ubuntu-24.04 | |
| container: | |
| # Run on the Docker image we tagged and pushed to a private repo in the job above | |
| image: ghcr.io/picknikrobotics/fuse:${{ github.run_id }} | |
| steps: | |
| - name: Unit test workspace | |
| run: | | |
| . /opt/ros/rolling/setup.sh | |
| . /colcon_ws/install/local_setup.sh | |
| colcon test --event-handlers console_direct+ --packages-select-regex fuse* | |
| working-directory: /colcon_ws | |
| # `colcon test` does not actually error on failure - run `colcon test-result` to generate a summary and an error code. | |
| - name: Display colcon test results | |
| # Run this step even if a previous step failed | |
| if: always() | |
| run: colcon test-result --verbose | |
| working-directory: /colcon_ws | |
| clang_tidy: | |
| if: github.ref != 'refs/heads/main' | |
| needs: | |
| # Ensure the test job runs after the build job finishes instead of attempting to run in parallel | |
| - build-ws | |
| name: clang-tidy | |
| runs-on: ubuntu-24.04 | |
| container: | |
| # Run on the Docker image we tagged and pushed to a private repo in the job above | |
| image: ghcr.io/picknikrobotics/fuse:${{ github.run_id }} | |
| steps: | |
| - name: Changed Files | |
| id: changed-cpp-files | |
| uses: tj-actions/[email protected] | |
| with: | |
| # Avoid using single or double quotes for multiline patterns | |
| files: | | |
| **.cpp | |
| **.hpp | |
| - run: run-clang-tidy -j $(nproc --all) -p build/ -export-fixes clang-tidy-fixes.yaml -config-file src/fuse/.clang-tidy ${{ steps.changed-cpp-files.outputs.all_changed_files }} | |
| working-directory: /colcon_ws | |
| - uses: asarium/[email protected] | |
| with: | |
| fixesFile: /colcon_ws/clang-tidy-fixes.yaml | |
| noFailOnIssue: false |