diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index c80d6f4e..d80c4d33 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -14,32 +14,36 @@ jobs: fail-fast: false matrix: env: - - IMAGE: melodic-source + # TODO: We have to use -Wno-redundant-decls since rosidl_generator_c is generating broken headers + - IMAGE: galactic-source NAME: ccov TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage" - - IMAGE: master-source + - IMAGE: rolling-source CXXFLAGS: >- - -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls + -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wno-redundant-decls -Wno-unused-parameter -Wno-unused-function -Wno-deprecated-copy -Wno-unused-but-set-parameter - - IMAGE: noetic-source + - IMAGE: rolling-source CXX: clang++ CLANG_TIDY: true CXXFLAGS: >- - -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls + -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wno-redundant-decls -Wno-unused-parameter -Wno-unused-function -Wno-deprecated-copy - - IMAGE: noetic-source + # Add fast_unwind_on_malloc=0 to fix stacktraces being too short or do not make sense + # see https://github.com/google/sanitizers/wiki/AddressSanitizer + - IMAGE: rolling-source NAME: asan DOCKER_RUN_OPTS: >- -e PRELOAD=libasan.so.5 - -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions" + -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions,fast_unwind_on_malloc=0" TARGET_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1" env: - CATKIN_LINT: true CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file - DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }} + DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }} UNDERLAY: /root/ws_moveit/install - DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master github:TAMS-Group/mtc_pour#master" + # TODO: Port to ROS2 + # DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master github:TAMS-Group/mtc_pour#master" + UPSTREAM_WORKSPACE: .repos CCACHE_DIR: ${{ github.workspace }}/.ccache BASEDIR: ${{ github.workspace }}/.work CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}" @@ -48,7 +52,7 @@ jobs: CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} - name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}" + name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}" runs-on: ubuntu-latest steps: - uses: actions/checkout@v2 diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml index 05f532be..39ea7866 100644 --- a/.github/workflows/format.yaml +++ b/.github/workflows/format.yaml @@ -17,9 +17,6 @@ jobs: - uses: actions/setup-python@v2 - name: Install clang-format-10 run: sudo apt-get install clang-format-10 - - uses: rhaschke/install-catkin_lint-action@v1.0 - with: - distro: noetic - uses: pre-commit/action@v2.0.0 id: precommit - name: Upload pre-commit changes diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index decc953a..df17afc7 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -42,10 +42,3 @@ repos: language: system files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$ args: ['-fallback-style=none', '-i'] - - id: catkin_lint - name: catkin_lint - description: Check package.xml and cmake files - entry: catkin_lint . - language: system - always_run: true - pass_filenames: false diff --git a/.repos b/.repos new file mode 100644 index 00000000..54a045de --- /dev/null +++ b/.repos @@ -0,0 +1,5 @@ +repositories: + rosparam_shortcuts: + type: git + url: https://github.com/PickNikRobotics/rosparam_shortcuts + version: ros2