gh: add GHA CI & Docker (#30)

* Several cleanups & fixes to make build succeed (catkin lint, clang-tidy) * Add ROS one build * Add gh commitlint scope * Make @rhaschke codeowner of gh workflows * Use NodeHandle in plugin instead of smart ptr * Use mjModel & mjData raw pointers instead of smart ptrs for better performance --------- Co-authored-by: David Leins <[email protected]>
ubi-agni · Oct 23, 2023 · a10b4c7 · a10b4c7
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diff --git a/.clang-tidy b/.clang-tidy
@@ -4,6 +4,7 @@ Checks:          'performance-*,
                   modernize-redundant-void-arg,
                   modernize-use-nullptr,
                   modernize-use-default,
+		  modernize-use-emplace,
                   modernize-use-override,
                   modernize-use-using,
                   modernize-loop-convert,

diff --git a/.codecov.yaml b/.codecov.yaml
@@ -0,0 +1,24 @@
+coverage:
+  precision: 2
+  round: up
+  range: "45...70"
+  status:
+    project:
+      default:
+        target: auto
+        threshold: 5%
+    patch: off
+
+# While UI is not being tested, ignore UI/rendering related files
+# lodepng is external and was tested beforehand (might include original unittests here at some point)
+ignore:
+  - mujoco_ros/include/mujoco_ros/offscreen_camera.h
+  - mujoco_ros/include/mujoco_ros/platform_ui_adapter.h
+  - mujoco_ros/include/mujoco_ros/viewer.h
+  - mujoco_ros/src/glfw_adapter.cc
+  - mujoco_ros/src/glfw_dispatch.cc
+  - mujoco_ros/src/lodepng.cpp
+  - mujoco_ros/src/offscreen_camera.cpp
+  - mujoco_ros/src/offscreen_rendering.cpp
+  - mujoco_ros/src/platform_ui_adapter.cc
+  - mujoco_ros/src/viewer.cpp
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -0,0 +1,57 @@
+ARG IMAGE_PREFIX=""
+ARG IMAGE_SUFFIX=""
+ARG ROS_DISTRO=noetic
+FROM ${IMAGE_PREFIX}ros:${ROS_DISTRO}-ros-base${IMAGE_SUFFIX} AS base
+
+ENV TERM xterm
+ENV IN_DOCKER 1
+
+
+###################################################################################
+FROM base AS prepare
+ARG MUJOCO_VERSIONS=2.3.6  # ARG must be declared in stage were it is used!
+
+# Setup temporary ROS workspace
+WORKDIR /root/ws_mujoco
+
+# Copy MuJoCo ROS sources from docker context
+COPY . src/mujoco_ros_pkgs
+
+# Install packages required for prepare stage
+RUN apt-get -q update && \
+    apt-get -q -y dist-upgrade && \
+    DEBIAN_FRONTEND=noninteractive apt-get -q install --no-install-recommends -y curl git python3-vcstool && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install MuJoCo versions
+RUN src/mujoco_ros_pkgs/.docker/mujoco_installer.sh
+
+# Download upstream repo dependencies
+RUN vcs import --shallow --input src/mujoco_ros_pkgs/.github/workflows/upstream.rosinstall src
+
+# Create list of ros dependencies
+RUN rosdep update
+RUN rosdep install -y --from-paths src --ignore-src --simulate > /tmp/deps.sh
+RUN chmod 755 /tmp/deps.sh
+
+
+###################################################################################
+FROM base AS final
+
+COPY --from=prepare /root/mujoco /root/mujoco
+COPY --from=prepare /tmp/deps.sh /tmp/deps.sh
+
+RUN apt-get -q update && \
+    apt-get -q -y dist-upgrade && \
+    # Install common dependencies
+    DEBIAN_FRONTEND=noninteractive apt-get -q install --no-install-recommends -y \
+        curl git sudo python3-vcstool \
+        $(test "${ROS_DISTRO}" = "noetic" && echo "python3-catkin-tools" || echo "python3-colcon-common-extensions") \
+        clang clang-format clang-tidy clang-tools \
+        ccache && \
+    # Install rosdep dependencies
+    DEBIAN_FRONTEND=noninteractive /tmp/deps.sh && \
+    # Cleanup apt cache
+    rm -rf /var/lib/apt/lists/* && \
+        # Globally disable git security
+    git config --global --add safe.directory "*"
diff --git a/.docker/mujoco_installer.sh b/.docker/mujoco_installer.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+rm -rf "${HOME}/mujoco"
+
+for mj_version in $MUJOCO_VERSIONS
+do
+	echo "Installing MuJoCo Version ${mj_version} ..."
+
+	if curl -sSLfO https://github.com/google-deepmind/mujoco/releases/download/${mj_version}/mujoco-${mj_version}-linux-x86_64.tar.gz; then
+		mkdir -p "${HOME}/mujoco/${mj_version}"
+		tar -xzf mujoco-${mj_version}-linux-x86_64.tar.gz -C "${HOME}/mujoco/${mj_version}" --strip-components 1
+		rm "mujoco-${mj_version}-linux-x86_64.tar.gz"
+	fi
+done
diff --git a/.dockerignore b/.dockerignore
@@ -0,0 +1,7 @@
+*
+
+!.docker/mujoco_installer.sh
+!.github/workflows/upstream.rosinstall
+!.github/workflows/downstream.rosinstall
+!**/package.xml
+!**/CATKIN_IGNORE
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -1 +1,3 @@
-* @DavidPL1
+* 			@DavidPL1
+
+.github/workflows	@rhaschke @DavidPL1
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -0,0 +1,7 @@
+### Description
+
+Please explain the changes you made, including a reference to the related issue if applicable
+
+### Checklist
+- [ ] **Required by CI**: Code is auto formatted using clang-format.
+- [ ] Add a brief explanation of your changes to the [changelog](mujoco_ros/CHANGELOG.md).
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -0,0 +1,142 @@
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - noetic-devel
+
+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: [2.3.6]
+        include:
+          - distro: noetic
+            mujoco: 2.3.6
+            env:
+              CATKIN_LINT: true
+              CCOV: true
+          - distro: one
+            mujoco: 2.3.6
+            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@v3
+      - 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 }}${{ matrix.env.CCOV && '-ccov' || '' }}
+
+      - id: ici
+        name: Run industrial_ci
+        uses: rhaschke/industrial_ci@ros-one
+
+      - name: Upload test artifacts (on failure)
+        uses: actions/upload-artifact@v3
+        if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
+        with:
+          name: test-results-${{ 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@v3
+        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
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
@@ -0,0 +1,68 @@
+name: Docker
+
+on:
+  schedule:
+    # 6 AM UTC every Sunday
+    - cron: "0 6 * * 6"
+  workflow_dispatch:
+  push:
+    paths:
+      - '**/package.xml'
+      - .docker
+      - .dockignore
+      - .github/workflows/docker.yml
+      - .github/workflows/*.rosinstall
+
+concurrency: # cancel any previous workflow(s) from the same PR or branch/tag
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  ci:
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [noetic, one]
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+      contents: read
+    env:
+      IMAGE: ubiagni/mujoco_ros:${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      MUJOCO_VERSIONS: 2.3.6 2.3.7
+
+    steps:
+      - name: Check for apt updates
+        uses: rhaschke/docker-run-action@v4
+        continue-on-error: true
+        id: apt
+        with:
+          image: ${{ env.IMAGE }}
+          shell: bash
+          run: |
+            apt-get update
+            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
+            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
+      - name: Login to Container Registry
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: Build and push
+        uses: docker/build-push-action@v5
+        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
+        with:
+          file: .docker/Dockerfile
+          build-args: |
+            ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+            MUJOCO_VERSIONS=${{ env.MUJOCO_VERSIONS }}
+            IMAGE_PREFIX=${{ matrix.ROS_DISTRO == 'one' && 'ubiagni/' || '' }}
+            IMAGE_SUFFIX=${{ matrix.ROS_DISTRO == 'one' && '-jammy' || '' }}
+          push: true
+          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
+          cache-from: type=registry,ref=${{ env.IMAGE }}
+          cache-to: type=inline
+          tags: ${{ env.IMAGE }}
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
@@ -0,0 +1,27 @@
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+permissions:
+  contents: read
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install clang-format
+        run: sudo apt-get update && sudo apt-get install clang-format -y
+      - name: Install catkin_lint
+        uses: rhaschke/[email protected]
+      - uses: pre-commit/[email protected]
+        id: precommit
+      - name: Upload pre-commit changes
+        if: failure() && steps.precommit.outcome == 'failure'
+        uses: rhaschke/upload-git-patch-action@main
+        with:
+          name: pre-commit
diff --git a/.github/workflows/upstream.rosinstall b/.github/workflows/upstream.rosinstall
@@ -0,0 +1,4 @@
+- git:
+    local-name: actionlib
+    uri: https://github.com/rhaschke/actionlib.git
+    version: noetic-devel
diff --git a/.housekeeping/git-commit-template.txt b/.housekeeping/git-commit-template.txt
@@ -14,6 +14,7 @@
 #     test = Including new or correcting previous tests
 #     build = Changes that affect the build system or external dependencies
 #     revert = Reverts a previous commit
+#     gh = github related changes (actions, workflows, ...)
 #
 #   <scope> can specify which part of the codebase is affected by the commit.
 #