Refactored perception pipeline tutorial from ros1 to ros 2 #2137
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# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | |
# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | |
name: CI | |
on: | |
schedule: | |
# 5 PM UTC every Sunday | |
- cron: '0 17 * * 6' | |
workflow_dispatch: | |
pull_request: | |
branches: | |
- main | |
push: | |
branches: | |
- main | |
jobs: | |
default: | |
strategy: | |
matrix: | |
env: | |
- IMAGE: rolling-source | |
env: | |
DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }} | |
UPSTREAM_WORKSPACE: .github/upstream.repos | |
AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src | |
AFTER_SETUP_UPSTREAM_WORKSPACE_EMBED: set +u && source ~/ws_moveit/install/setup.bash && set - u | |
TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release | |
CCACHE_DIR: ${{ github.workspace }}/.ccache | |
BASEDIR: ${{ github.workspace }}/.work | |
CACHE_PREFIX: ${{ matrix.env.IMAGE }} | |
name: ${{ matrix.env.IMAGE }} | |
runs-on: ubuntu-latest | |
steps: | |
- uses: actions/checkout@v4 | |
with: | |
fetch-depth: 0 | |
- name: cache upstream_ws | |
uses: pat-s/[email protected] | |
with: | |
path: ${{ env.BASEDIR }}/upstream_ws | |
key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('.github/upstream.repos') }}-${{ github.run_id }} | |
restore-keys: | | |
upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('.github/upstream.repos') }} | |
# 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_ws | |
uses: pat-s/[email protected] | |
with: | |
path: ${{ env.BASEDIR }}/target_ws | |
key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }} | |
restore-keys: | | |
target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }} | |
- name: cache ccache | |
uses: pat-s/[email protected] | |
with: | |
path: ${{ env.CCACHE_DIR }} | |
key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} | |
restore-keys: | | |
ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }} | |
ccache-${{ env.CACHE_PREFIX }} | |
- name: industrial_ci | |
uses: ros-industrial/industrial_ci@master | |
env: ${{ matrix.env }} | |
- name: prepare target_ws for cache | |
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 | |
du -sh ${{ env.BASEDIR }}/target_ws |