Support for ros launch #693
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| 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/[email protected] | |
| - 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 }} |