gh: debug egl runner

ubi-agni · Dec 5, 2024 · cef2d50 · cef2d50
1 parent 7fcd1a1
commit cef2d50
Showing 1 changed file with 28 additions and 10 deletions.
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -23,19 +23,37 @@ jobs:
         distro: [noetic, one]
         render_backend: [GLFW, OSMESA, EGL, DISABLE]
         mujoco: [3.2.0]
-        include:
+        # include:
+        #   - distro: noetic
+        #     mujoco: 3.2.0
+        #     env:
+        #       CATKIN_LINT: true
+        #       CCOV: true
+        #   - distro: one
+        #     mujoco: 3.2.0
+        #     env:
+        #       CLANG_TIDY: pedantic
+        exclude:
           - distro: noetic
-            mujoco: 3.2.0
-            env:
-              CATKIN_LINT: true
-              CCOV: true
+            render_backend: GLFW
+          - distro: noetic
+            render_backend: OSMESA
+          - distro: noetic
+            render_backend: EGL
+          - distro: noetic
+            render_backend: DISABLE
+          - distro: one
+            render_backend: GLFW
+          - distro: one
+            render_backend: OSMESA
           - distro: one
-            mujoco: 3.2.0
-            env:
-              CLANG_TIDY: pedantic
+            render_backend: DISABLE
 
     env:
       BUILDER: colcon
+      EGL_DEVICE_ID: 0
+      NVIDIA_DRIVER_CAPABILITIES: compute,graphics,utility,video
+      EGL_LOG_LEVEL: debug
       MUJOCO_DIR: /vol/mujoco/mujoco-${{ matrix.mujoco }} # for self-hosted runners
       DOCKER_RUN_OPTS: -e MUJOCO_DIR=/root/mujoco/${{ matrix.mujoco }} -e DISPLAY=:99.0
       DOCKER_IMAGE: ubiagni/mujoco_ros:${{ matrix.distro }}-ci
@@ -47,13 +65,13 @@ jobs:
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
       # Install and start xvfb for GLFW
-      AFTER_INIT: ${{ matrix.render_backend == 'GLFW' && 'apt-get install -qy xvfb; Xvfb :99 &' || '' }}
+      AFTER_INIT: ${{ matrix.render_backend == 'GLFW' && 'apt-get install -qy xvfb; Xvfb :99 &' || matrix.render_backend == 'EGL' && 'nvidia-smi'  || '' }}
       # Pull any updates to the upstream workspace
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
       AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
       # Clear ccache stats before and log the stats after the build
       AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
-      AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats
+      AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats; nvidia-smi; ldd $BASEDIR/target_ws/install/mujoco_ros/lib/libmujoco_ros.so;
       AFTER_BUILD_DOWNSTREAM_WORKSPACE: ccache --show-stats
       # Compile CCOV with Debug. Enable -Werror.
       TARGET_CMAKE_ARGS: >