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Improve Low-Level Controllers Topic #307

Improve Low-Level Controllers Topic

Improve Low-Level Controllers Topic #307

Workflow file for this run

# 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 # to fetch code (actions/checkout)
jobs:
default:
strategy:
matrix:
env:
- IMAGE: master-source # MoveIt master branch built on Melodic
- IMAGE: noetic-source # MoveIt master branch built on Noetic
CLANG_TIDY: pedantic
env:
DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
UNDERLAY: /root/ws_moveit/install
CATKIN_LINT: true
CCACHE_DIR: ${{ github.workspace }}/.ccache
BASEDIR: ${{ github.workspace }}/.work
CLANG_TIDY_BASE_REF: ${{ github.base_ref || github.ref }}
CXXFLAGS: -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
name: ${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v3
# 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 workspace
if: "!matrix.env.CCOV"
uses: rhaschke/cache@main
with:
path: ${{ env.BASEDIR }}/target_ws
key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
restore-keys: ${{ env.CACHE_PREFIX }}
env:
GHA_CACHE_SAVE: always
CACHE_PREFIX: target_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
- name: Cache ccache
uses: rhaschke/cache@main
with:
path: ${{ env.CCACHE_DIR }}
key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
restore-keys: |
${{ env.CACHE_PREFIX }}-${{ github.sha }}
${{ env.CACHE_PREFIX }}
env:
GHA_CACHE_SAVE: always
CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}
- name: Run industrial_ci
uses: ros-industrial/industrial_ci@master
env: ${{ matrix.env }}
- name: Upload test artifacts (on failure)
uses: actions/upload-artifact@v3
if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
with:
name: test-results-${{ matrix.env.IMAGE }}
path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
- name: Prepare target_ws for cache
if: ${{ always() }}
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 ${{ env.BASEDIR }}/target_ws/logs
du -sh ${{ env.BASEDIR }}/target_ws