fix rclcpp duration definition (#229) #484
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| name: CI | |
| on: | |
| push: | |
| branches: | |
| - develop | |
| - master | |
| - "release/*" | |
| pull_request: | |
| types: [opened, synchronize, reopened] | |
| jobs: | |
| determine_docker_org_and_tag: | |
| runs-on: ubuntu-latest | |
| outputs: | |
| docker_organization: ${{ steps.docker-org-and-tag.outputs.docker_organization }} | |
| docker_image_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }} | |
| steps: | |
| - id: docker-org-and-tag | |
| uses: usdot-fhwa-stol/actions/docker-org-and-tag@main | |
| build: | |
| needs: determine_docker_org_and_tag | |
| defaults: | |
| run: | |
| shell: bash | |
| working-directory: "/opt/carma/" | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-base:${{ needs.determine_docker_org_and_tag.outputs.docker_image_tag }} | |
| env: | |
| INIT_ENV: "/home/carma/.base-image/init-env.sh" | |
| ROS_2_ENV: "/opt/ros/foxy/setup.bash" | |
| TERM: xterm | |
| options: "--user root" | |
| steps: | |
| - name: Checkout ${{ github.event.repository.name }} | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| path: src/${{ github.event.repository.name }} | |
| - name: Move source code | |
| run: mv $GITHUB_WORKSPACE/src /opt/carma/ | |
| - name: Determine base branch | |
| id: determine-base-branch | |
| run: | | |
| if [[ "$GITHUB_EVENT_NAME" == "pull_request" ]]; then | |
| echo git_branch="$GITHUB_BASE_REF" >> $GITHUB_OUTPUT | |
| else | |
| echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT | |
| fi | |
| - name: Checkout dependencies | |
| run: | | |
| source "$INIT_ENV" | |
| git clone -b ${{ steps.determine-base-branch.outputs.git_branch }} --depth 1 https://github.com/usdot-fhwa-stol/carma-msgs.git src/CARMAMsgs | |
| - name: Build ROS1 | |
| run: | | |
| source "$INIT_ENV" | |
| PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1) | |
| sed -i '/colcon build/ s/$/ --parallel-workers 4 --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash | |
| make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Run ROS1 C++ Tests | |
| continue-on-error: true | |
| run: | | |
| source "$INIT_ENV" | |
| sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash | |
| make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Backup ROS1 compile_commands.json | |
| run: | | |
| mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json | |
| - name: Cleanup before ROS 2 build | |
| # Clear the build and install folders before building ROS 2 | |
| run: | | |
| rm -rf /opt/carma/install | |
| rm -rf /opt/carma/build | |
| - name: Build ROS2 | |
| run: | | |
| source "$INIT_ENV" | |
| source "$ROS_2_ENV" | |
| PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1) | |
| sed -i '/colcon build/ s/$/ --continue-on-error --parallel-workers 4 --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash | |
| make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Run ROS2 C++ Tests | |
| continue-on-error: true | |
| run: | | |
| source "$INIT_ENV" | |
| source "$ROS_2_ENV" | |
| sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash | |
| make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Combine ROS1 and ROS2 compile_commands.json files | |
| run: | | |
| mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json | |
| jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json | |
| - name: Run SonarScanner | |
| uses: usdot-fhwa-stol/actions/sonar-scanner@main | |
| with: | |
| sonar-token: ${{ secrets.SONAR_TOKEN }} | |
| working-dir: "/opt/carma/src/${{ github.event.repository.name }}" |