mirror of
https://github.com/moveit/moveit_task_constructor.git
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118 lines
5.0 KiB
YAML
118 lines
5.0 KiB
YAML
# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
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# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
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name: CI
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on:
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workflow_dispatch:
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pull_request:
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push:
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permissions:
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contents: read
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pages: write
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id-token: write
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jobs:
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default:
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strategy:
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fail-fast: false
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matrix:
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env:
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- IMAGE: humble-source
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- IMAGE: rolling-source
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NAME: ccov
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TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
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- IMAGE: rolling-source
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CLANG_TIDY: pedantic
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- IMAGE: rolling-source
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NAME: asan
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# Add fast_unwind_on_malloc=0 to fix stacktraces being too short or do not make sense
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# see https://github.com/google/sanitizers/wiki/AddressSanitizer
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# Disable alloc/dealloc mismatch warnings: https://github.com/ros2/rclcpp/pull/1324
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DOCKER_RUN_OPTS: >-
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-e PRELOAD=libasan.so.5
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-e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions,fast_unwind_on_malloc=0"
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-e ASAN_OPTIONS="new_delete_type_mismatch=0,alloc_dealloc_mismatch=0"
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TARGET_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g"
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env:
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CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
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DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
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UNDERLAY: /root/ws_moveit/install
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# TODO: Port to ROS2
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# DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master github:TAMS-Group/mtc_pour#master"
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# Silent googletest warnings: https://github.com/ament/ament_cmake/pull/408#issuecomment-1306004975
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UPSTREAM_WORKSPACE: github:ament/googletest#clalancette/update-to-gtest-1.11
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AFTER_SETUP_UPSTREAM_WORKSPACE: dpkg --purge --force-all ros-rolling-gtest-vendor ros-rolling-gmock-vendor
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TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
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# perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
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CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
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CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
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CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
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name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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with:
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submodules: recursive
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- name: Cache ccache
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uses: rhaschke/cache@main
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
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ccache-${{ env.CACHE_PREFIX }}
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env:
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GHA_CACHE_SAVE: always
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- id: ici
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name: Run industrial_ci
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uses: rhaschke/industrial_ci@clang-tidy
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env: ${{ matrix.env }}
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- name: Upload ici's target_ws/install folder
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uses: rhaschke/upload-ici-workspace@main
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if: success() && matrix.env.CLANG_TIDY
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with:
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subdir: target_ws/install
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- name: Upload test artifacts (on failure)
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uses: actions/upload-artifact@v3
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if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
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with:
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name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }}
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path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
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- name: Upload clang-tidy fixes (on failure)
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uses: actions/upload-artifact@v3
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if: failure() && steps.ici.outputs.clang_tidy_checks
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with:
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name: clang-tidy-fixes.yaml
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path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml
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- name: Show clang-tidy warnings
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if: always() && matrix.env.CLANG_TIDY
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uses: asarium/clang-tidy-action@v1
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with:
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fixesFile: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml
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- name: Generate codecov report
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uses: rhaschke/lcov-action@main
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if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
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with:
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docker: $DOCKER_IMAGE
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workdir: ${{ env.BASEDIR }}/target_ws
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ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
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- name: Upload codecov report
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uses: codecov/codecov-action@v3
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if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
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with:
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files: ${{ env.BASEDIR }}/target_ws/coverage.info
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