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ci.yaml
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# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
name: CI
on:
workflow_dispatch:
pull_request:
merge_group:
push:
branches:
- main
jobs:
default:
strategy:
fail-fast: false
matrix:
env:
- IMAGE: rolling-ci
CCOV: false # Disabled: https://github.com/moveit/moveit2/issues/2866
ROS_DISTRO: rolling
- IMAGE: rolling-ci
ROS_DISTRO: rolling
IKFAST_TEST: true
CLANG_TIDY: pedantic
- IMAGE: humble-ci
ROS_DISTRO: humble
- IMAGE: humble-ci-testing
ROS_DISTRO: humble
- IMAGE: jazzy-ci
ROS_DISTRO: jazzy
env:
CXXFLAGS: >-
-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
UPSTREAM_WORKSPACE: >
moveit2.repos
$(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
# Pull any updates to the upstream workspace (after restoring it from cache)
AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
# Clear the ccache stats before and log the stats after the build
AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z
AFTER_BUILD_TARGET_WORKSPACE: ccache -s
# Changing linker to lld as ld has a behavior where it takes a long time to finish
# Compile CCOV with Debug. Enable -Werror.
TARGET_CMAKE_ARGS: >
-DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
-DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
-DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
-DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
-DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer' || ''}}"
UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
CCACHE_DIR: ${{ github.workspace }}/.ccache
BASEDIR: ${{ github.workspace }}/.work
CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
BEFORE_CLANG_TIDY_CHECKS: |
# Show list of applied checks
(cd $TARGET_REPO_PATH; clang-tidy --list-checks)
# Disable clang-tidy for ikfast plugins as we cannot fix the generated code
find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \;
find $BASEDIR/target_ws/build -iwholename "*_ikfast_manipulator_plugin/compile_commands.json" -exec rm {} \;
CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
ADDITIONAL_DEBS: lld
name: ${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}
runs-on: ubuntu-latest
steps:
- name: "Free up disk space"
if: matrix.env.CCOV
run: |
sudo apt-get -qq purge "ghc*"
sudo apt-get clean
# cleanup docker images not used by us
docker system prune -af
# shift ccache folder to /mnt on a separate disk
sudo mkdir /mnt/ccache
mkdir ${{ env.CCACHE_DIR }}
sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache
# free up a lot of stuff from /usr/local
sudo rm -rf /usr/local
df -h
- uses: actions/checkout@v4
# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org
# See: https://github.com/moveit/moveit2/issues/2852
# - uses: testspace-com/setup-testspace@v1
# if: github.repository == 'moveit/moveit2'
# with:
# domain: moveit
- name: Get latest release date for rosdistro
id: rosdistro_release_date
uses: JafarAbdi/latest-rosdistro-release-date-action@main
with:
rosdistro: ${{ matrix.env.ROS_DISTRO }}
- name: Get latest timestamp repos file has been edited
id: repos_edit_timestamp
uses: vatanaksoytezer/latest-file-edit-timestamp-action@main
with:
file: moveit2.repos
- name: Cache upstream workspace
uses: actions/cache@v4
with:
path: ${{ env.BASEDIR }}/upstream_ws
key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
restore-keys: ${{ env.CACHE_PREFIX }}
save-always: true
env:
CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
# The target directory cache doesn't include the source directory because
# that comes from the checkout. See "prepare target_ws for cache" task below
- name: Cache target workspace
if: "!matrix.env.CCOV"
uses: actions/cache@v4
with:
path: ${{ env.BASEDIR }}/target_ws
key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
restore-keys: ${{ env.CACHE_PREFIX }}
save-always: true
env:
CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
- name: Cache ccache
uses: actions/cache@v4
with:
path: ${{ env.CCACHE_DIR }}
key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
restore-keys: |
${{ env.CACHE_PREFIX }}-${{ github.sha }}
${{ env.CACHE_PREFIX }}
save-always: true
env:
CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
- name: Configure ccache
run: |
mkdir -p ${{ env.CCACHE_DIR }}
cp .github/ccache.conf ${{ env.CCACHE_DIR }}/ccache.conf
- name: Generate ikfast packages
if: matrix.env.IKFAST_TEST
run: moveit_kinematics/test/test_ikfast_plugins.sh
- id: ici
name: Run industrial_ci
uses: ros-industrial/industrial_ci@master
env: ${{ matrix.env }}
# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org
# See: https://github.com/moveit/moveit2/issues/2852
# - name: Push result to Testspace
# if: always() && (github.repository == 'moveit/moveit2')
# run: |
# testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
- name: Upload test artifacts (on failure)
uses: actions/upload-artifact@v4
if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
with:
name: test-results-${{ matrix.env.IMAGE }}
path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
- name: Generate codecov report
uses: rhaschke/lcov-action@main
if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
with:
docker: $DOCKER_IMAGE
workdir: ${{ env.BASEDIR }}/target_ws
ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
- name: Upload codecov report
uses: codecov/codecov-action@v4
if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
with:
files: ${{ env.BASEDIR }}/target_ws/coverage.info
- name: Upload clang-tidy changes
uses: rhaschke/upload-git-patch-action@main
if: always() && matrix.env.CLANG_TIDY
with:
name: clang-tidy
path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd))
- name: Prepare target_ws for cache
if: always() && !matrix.env.CCOV
run: |
du -sh ${{ env.BASEDIR }}/target_ws
sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
du -sh ${{ env.BASEDIR }}/target_ws