[ros2] Add Stage property to assign a list of controllers to use when… #663
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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: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| permissions: | |
| contents: read | |
| pages: write | |
| id-token: write | |
| jobs: | |
| default: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - IMAGE: rolling-source | |
| NAME: ccov | |
| TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage" | |
| - IMAGE: rolling-source | |
| CLANG_TIDY: pedantic | |
| - IMAGE: rolling-source | |
| NAME: asan | |
| # 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 | |
| # Disable alloc/dealloc mismatch warnings: https://github.com/ros2/rclcpp/pull/1324 | |
| DOCKER_RUN_OPTS: >- | |
| -e PRELOAD=libasan.so.5 | |
| -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions,fast_unwind_on_malloc=0" | |
| -e ASAN_OPTIONS="new_delete_type_mismatch=0,alloc_dealloc_mismatch=0" | |
| TARGET_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g" | |
| env: | |
| CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml | |
| DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }} | |
| UNDERLAY: /root/ws_moveit/install | |
| # TODO: Port to ROS2 | |
| # DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master github:TAMS-Group/mtc_pour#master" | |
| TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| BASEDIR: ${{ github.workspace }}/.work | |
| CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}" | |
| # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing | |
| CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }} | |
| CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} | |
| CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} | |
| name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: Cache ccache | |
| uses: rhaschke/cache@main | |
| 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 }} | |
| env: | |
| GHA_CACHE_SAVE: always | |
| - id: ici | |
| name: Run industrial_ci | |
| uses: rhaschke/industrial_ci@clang-tidy | |
| env: ${{ matrix.env }} | |
| - name: Upload ici's target_ws/install folder | |
| uses: rhaschke/upload-ici-workspace@main | |
| if: success() && matrix.env.CLANG_TIDY | |
| with: | |
| subdir: target_ws/install | |
| - name: Upload test artifacts (on failure) | |
| uses: actions/upload-artifact@v3 | |
| if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | |
| with: | |
| name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }} | |
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | |
| - name: Upload clang-tidy fixes (on failure) | |
| uses: actions/upload-artifact@v3 | |
| if: failure() && steps.ici.outputs.clang_tidy_checks | |
| with: | |
| name: clang-tidy-fixes.yaml | |
| path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml | |
| - name: Show clang-tidy warnings | |
| if: always() && matrix.env.CLANG_TIDY | |
| uses: asarium/clang-tidy-action@v1 | |
| with: | |
| fixesFile: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml | |
| - name: Generate codecov report | |
| uses: rhaschke/lcov-action@main | |
| if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && 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: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| files: ${{ env.BASEDIR }}/target_ws/coverage.info |