Support for ros launch #1059
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| name: Bazel ROS 2 rules 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 | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| # This is required for running lldb. | |
| # See https://stackoverflow.com/a/73613377/7829525 | |
| options: --cap-add=SYS_PTRACE --security-opt seccomp=unconfined | |
| steps: | |
| - uses: actions/checkout@v4 | |
| # Caching. | |
| # See comments in drake-blender for more details: | |
| # https://github.com/RobotLocomotion/drake-blender/blob/c4a33f80/.github/workflows/main.yml | |
| - uses: actions/cache@v3 | |
| with: | |
| path: "/home/runner/.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 /home/runner/.cache/bazel_ci) || true | |
| # Setup. | |
| - name: Simplify apt upgrades | |
| run: .github/simplify_apt_and_upgrades.sh | |
| - name: Configure Bazel for CI (bazel_ros2_rules) | |
| run: ln -s ../.github/ci.bazelrc ./user.bazelrc | |
| working-directory: bazel_ros2_rules | |
| - name: Configure Bazel for CI (ros2_example_bazel_installed) | |
| run: ln -s ../.github/ci.bazelrc ./user.bazelrc | |
| working-directory: ros2_example_bazel_installed | |
| - name: Install prerequisites | |
| run: yes | ./setup/install_prereqs.sh | |
| working-directory: ros2_example_bazel_installed | |
| # Place this before main build. | |
| # TODO(eric.cousineau): Remove this pending resolution of #107. | |
| - name: Check direct runs via runfiles | |
| run: ./setup/runfiles_direct_test.sh | |
| working-directory: ros2_example_bazel_installed | |
| - name: Test lint | |
| run: ./fix_bazel_lint.sh --test | |
| working-directory: . | |
| - name: Build Bazel workspace (bazel_ros2_rules) | |
| run: bazel build //... | |
| working-directory: bazel_ros2_rules | |
| - name: Test Bazel workspace (bazel_ros2_rules) | |
| run: bazel test //... | |
| working-directory: bazel_ros2_rules | |
| - name: Build Bazel workspace (ros2_example_installed) | |
| run: bazel build //... | |
| working-directory: ros2_example_bazel_installed | |
| - name: Test Bazel workspace (ros2_example_installed) | |
| run: bazel test //... @ros2//... | |
| working-directory: ros2_example_bazel_installed |