Add issue templates (#1082) #709
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Benchmarking | |
| on: | |
| push: | |
| branches: | |
| - master | |
| # allow manually starting this workflow | |
| workflow_dispatch: | |
| jobs: | |
| benchmark: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ubuntu:20.04 | |
| env: | |
| CCACHE_DIR: "$GITHUB_WORKSPACE/benchmark/.ccache" | |
| DEBIAN_FRONTEND: noninteractive | |
| TZ: Etc/UTC | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| path: target_ws/src | |
| - name: Install Depends | |
| shell: bash | |
| run: | | |
| apt update | |
| apt upgrade -y | |
| apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git liboctomap-dev | |
| python3 -m pip install vcstool -q | |
| python3 -m pip install colcon-common-extensions -q | |
| python3 -m pip install rosdep -q | |
| rosdep init | |
| rosdep update | |
| cd $GITHUB_WORKSPACE/target_ws/src | |
| ./.github/workflows/add_ros_apt_sources.sh | |
| - name: Prepare ccache timestamp | |
| id: ccache_cache_timestamp | |
| shell: cmake -P {0} | |
| run: | | |
| string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) | |
| message("::set-output name=timestamp::${current_date}") | |
| - name: ccache cache files | |
| uses: actions/[email protected] | |
| with: | |
| path: benchmark/.ccache | |
| key: benchmark-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }} | |
| restore-keys: | | |
| benchmark-ccache- | |
| - name: Build Upstream Workspace | |
| shell: bash | |
| run: | | |
| mkdir -p $GITHUB_WORKSPACE/upstream_ws/src | |
| vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/ | |
| cd $GITHUB_WORKSPACE/upstream_ws | |
| rosdep install --from-paths src --ignore-src -r -y | |
| colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release | |
| if [ $? -ge 1 ]; then return 1; fi | |
| - name: Build Target Workspace And Run Benchmarks | |
| shell: bash | |
| run: | | |
| source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash | |
| cd $GITHUB_WORKSPACE/target_ws | |
| rosdep install --from-paths src --ignore-src -r -y | |
| colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=OFF -DTESSERACT_ENABLE_BENCHMARKING=ON -DTESSERACT_ENABLE_RUN_BENCHMARKING=ON -DBENCHMARK_ARGS=CI_ONLY | |
| if [ $? -ge 1 ]; then return 1; fi | |
| ./src/.run_combine_benchmark_results | |
| - name: Store Bullet Discrete, FCL Discrete and Environment benchmark result | |
| uses: benchmark-action/github-action-benchmark@v1 | |
| with: | |
| name: C++ Benchmark | |
| tool: 'googlecpp' | |
| output-file-path: $GITHUB_WORKSPACE/target_ws/benchmarks/tesseract-benchmark_result.json | |
| benchmark-data-dir-path: tesseract/dev/bench | |
| gh-repository: github.com/tesseract-robotics/tesseract_docs | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| auto-push: false | |
| # Show alert with commit comment on detecting possible performance regression | |
| alert-threshold: '200%' | |
| comment-on-alert: true | |
| fail-on-alert: false | |
| alert-comment-cc-users: '@Levi-Armstrong' | |
| max-items-in-chart: 20 | |
| - name: Push benchmark result | |
| uses: cpina/[email protected] | |
| env: | |
| SSH_DEPLOY_KEY: ${{ secrets.DOCS_DEPLOY_KEY }} | |
| with: | |
| source-directory: benchmark-data-repository/tesseract/dev/bench | |
| destination-github-username: tesseract-robotics | |
| destination-repository-name: tesseract_docs | |
| target-branch: gh-pages | |
| target-directory: tesseract/dev/bench |