feat: adds dynamic reconfigure for engine settings #156
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: CI | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| branches: | |
| - noetic-devel | |
| - develop | |
| permissions: | |
| contents: read | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| default: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| distro: [noetic, one] | |
| mujoco: [3.2.0] | |
| include: | |
| - distro: noetic | |
| mujoco: 3.2.0 | |
| env: | |
| CATKIN_LINT: true | |
| CCOV: true | |
| - distro: one | |
| mujoco: 3.2.0 | |
| env: | |
| CLANG_TIDY: pedantic | |
| env: | |
| BUILDER: colcon | |
| DOCKER_RUN_OPTS: -e MUJOCO_DIR=/root/mujoco/${{ matrix.mujoco }} | |
| DOCKER_IMAGE: ubiagni/mujoco_ros:${{ matrix.distro }}-ci | |
| # For now we have flags defined in the CMakeLists, using all flags makes the build break | |
| # I'll fix this once I find some time to do it | |
| # CXXFLAGS: -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls | |
| CXXFLAGS: -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls | |
| CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file | |
| UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall | |
| # Pull any updates to the upstream workspace | |
| AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src | |
| AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src | |
| # Clear ccache stats before and log the stats after the build | |
| AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G | |
| AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats | |
| AFTER_BUILD_DOWNSTREAM_WORKSPACE: ccache --show-stats | |
| # Compile CCOV with Debug. Enable -Werror. | |
| TARGET_CMAKE_ARGS: > | |
| -DCMAKE_BUILD_TYPE=${{ 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= -DCMAKE_CXX_STANDARD=17 | |
| 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) | |
| CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} | |
| CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} | |
| CLANG_TIDY: ${{ matrix.env.CLANG_TIDY || 'false' }} | |
| CATKIN_LINT: ${{ matrix.env.CATKIN_LINT || 'false' }} | |
| CCOV: ${{ matrix.env.CCOV || 'false' }} | |
| name: "${{ matrix.distro }} mj-${{ matrix.mujoco }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}" | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Cache upstream workspace | |
| uses: rhaschke/cache@main | |
| with: | |
| path: ${{ env.BASEDIR }}/upstream_ws | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
| restore-keys: ${{ env.CACHE_PREFIX }} | |
| env: | |
| GHA_CACHE_SAVE: always | |
| CACHE_PREFIX: upstream_ws-${{ matrix.distro }}-${{ hashFiles('.github/workflows/upstream.rosinstall', '.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 != true | |
| uses: rhaschke/cache@main | |
| with: | |
| path: ${{ env.BASEDIR }}/target_ws | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
| restore-keys: ${{ env.CACHE_PREFIX }} | |
| env: | |
| GHA_CACHE_SAVE: always | |
| CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.distro }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }} | |
| - name: Cache ccache | |
| uses: rhaschke/cache@main | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} | |
| restore-keys: | | |
| ${{ env.CACHE_PREFIX }}-${{ github.sha }} | |
| ${{ env.CACHE_PREFIX }} | |
| env: | |
| GHA_CACHE_SAVE: always | |
| CACHE_PREFIX: ccache-${{ matrix.distro }}${{ matrix.env.CCOV && '-ccov' || '' }} | |
| - id: ici | |
| name: Run industrial_ci | |
| uses: rhaschke/industrial_ci@ros-one | |
| - name: Upload test artifacts (on failure) | |
| uses: actions/upload-artifact@v4 | |
| if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | |
| with: | |
| name: test-results-${{ matrix.distro }} | |
| 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@v5 | |
| 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 ${{ env.BASEDIR }}/target_ws/logs | |
| du -sh ${{ env.BASEDIR }}/target_ws |