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Use ROS-independent version of ICI
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marip8 committed Mar 9, 2023
1 parent 4f04a91 commit 28872f2
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4 changes: 4 additions & 0 deletions .github/workflows/add_ros_apt_sources.sh
Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
#! /bin/bash
sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
apt update -qq
8 changes: 5 additions & 3 deletions .github/workflows/benchmarking.yml
Original file line number Diff line number Diff line change
Expand Up @@ -35,12 +35,14 @@ jobs:
restore-keys: |
${{ matrix.env.CI_NAME }}-ccache-
- uses: 'ros-industrial/industrial_ci@master'
- uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
env:
ROS_DISTRO: noetic
DOCKER_IMAGE: ubuntu:20.04
ROS_DISTRO: false
ADDITIONAL_DEBS: 'curl lsb-release'
AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
ROSDEP_SKIP_KEYS: "bullet ros_industrial_cmake_boilerplate fcl iwyu"
DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
CCACHE_DIR: "${{ github.workspace }}/${{ matrix.env.CI_NAME }}/.ccache"
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=OFF -DTESSERACT_ENABLE_BENCHMARKING=ON -DTESSERACT_ENABLE_RUN_BENCHMARKING=ON -DBENCHMARK_ARGS=CI_ONLY"
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25 changes: 11 additions & 14 deletions .github/workflows/bionic_build.yml
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
name: Bionic-Build
name: Ubuntu Bionic

on:
push:
Expand All @@ -17,12 +17,11 @@ on:

jobs:
industrial_ci:
name: Melodic
name: Ubuntu Bionic
runs-on: ubuntu-latest
env:
CI_NAME: Bionic-Build
CI_NAME: ubuntu-bionic
CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Bionic-Build/.ccache"
ROS_DISTRO: melodic
REGISTRY: ghcr.io
IMAGE_NAME: ${{ github.repository }}
PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
Expand Down Expand Up @@ -72,8 +71,8 @@ jobs:
prefix=
suffix=
tags: |
type=ref,event=branch,prefix=${{ env.ROS_DISTRO }}-
type=semver,pattern={{major}}.{{minor}},prefix=${{ env.ROS_DISTRO }}-
type=ref,event=branch,prefix=${{ env.CI_NAME }}-
type=semver,pattern={{major}}.{{minor}},prefix=${{ env.CI_NAME }}-
- name: Set build type
run: |
Expand All @@ -85,20 +84,18 @@ jobs:
fi
- name: Build repository
uses: 'ros-industrial/industrial_ci@master'
uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
env:
OS_NAME: ubuntu
OS_CODE_NAME: bionic
ROS_REPO: main
DOCKER_IMAGE: ubuntu:18.04
ROS_DISTRO: false
ADDITIONAL_DEBS: 'curl lsb-release'
AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
ROSDEP_SKIP_KEYS: 'bullet ros_industrial_cmake_boilerplate iwyu fcl taskflow'
DOCKER_IMAGE: 'rosindustrial/tesseract:${{ env.ROS_DISTRO }}'
PARALLEL_BUILDS: 1
PARALLEL_TESTS: false
PREFIX: ${{ github.repository }}_
UPSTREAM_CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release'
TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps --verbose tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph tesseract_srdf tesseract_state_solver tesseract_urdf --make-args test'
BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source $BASEDIR/${PREFIX}target_ws/install/setup.bash"
DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}

- name: Push post-build Docker
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25 changes: 12 additions & 13 deletions .github/workflows/clang_tidy.yml
Original file line number Diff line number Diff line change
Expand Up @@ -18,17 +18,6 @@ jobs:
runs-on: ubuntu-latest
env:
CI_NAME: Clang-Tidy
OS_NAME: ubuntu
OS_CODE_NAME: focal
ROS_DISTRO: noetic
ROS_REPO: main
UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow"
DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Clang-Tidy/.ccache"
NOT_TEST_BUILD: true
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
steps:
- uses: actions/checkout@v2

Expand Down Expand Up @@ -57,5 +46,15 @@ jobs:
restore-keys: |
${{ env.CI_NAME }}-ccache-
- uses: 'ros-industrial/industrial_ci@master'
env: ${{env}}
- uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
env:
DOCKER_IMAGE: ubuntu:20.04
ROS_DISTRO: false
ADDITIONAL_DEBS: 'curl lsb-release'
AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow"
CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Clang-Tidy/.ccache"
NOT_TEST_BUILD: true
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
27 changes: 12 additions & 15 deletions .github/workflows/codecov.yml
Original file line number Diff line number Diff line change
Expand Up @@ -15,19 +15,6 @@ jobs:
industrial_ci:
name: CodeCov
runs-on: ubuntu-latest
env:
CI_NAME: CodeCov
OS_NAME: ubuntu
OS_CODE_NAME: focal
ROS_DISTRO: noetic
ROS_REPO: main
UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow"
DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf --make-args ccov-all
&& bash <(curl -s https://codecov.io/bash) -t c4af0da7-9fc3-4d3c-bb2e-6b2523ddd382 -s $target_ws/build -f *all-merged.info'
steps:
- uses: actions/checkout@v2

Expand All @@ -40,5 +27,15 @@ jobs:
docker rmi $(docker image ls -aq)
df -h
- uses: 'ros-industrial/industrial_ci@master'
env: ${{env}}
- uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
env:
DOCKER_IMAGE: ubuntu:20.04
ROS_DISTRO: false
ADDITIONAL_DEBS: 'curl lsb-release'
AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow"
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf --make-args ccov-all
&& bash <(curl -s https://codecov.io/bash) -t c4af0da7-9fc3-4d3c-bb2e-6b2523ddd382 -s $target_ws/build -f *all-merged.info'
26 changes: 11 additions & 15 deletions .github/workflows/focal_build.yml
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
name: Focal-Build
name: Ubuntu Focal

on:
push:
Expand All @@ -17,12 +17,11 @@ on:

jobs:
industrial_ci:
name: Noetic
name: Ubuntu Focal
runs-on: ubuntu-latest
env:
CI_NAME: Focal-Build
CI_NAME: ubuntu-focal
CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Focal-Build/.ccache"
ROS_DISTRO: noetic
REGISTRY: ghcr.io
IMAGE_NAME: ${{ github.repository }}
PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
Expand Down Expand Up @@ -72,8 +71,8 @@ jobs:
prefix=
suffix=
tags: |
type=ref,event=branch,prefix=${{ env.ROS_DISTRO }}-
type=semver,pattern={{major}}.{{minor}},prefix=${{ env.ROS_DISTRO }}-
type=ref,event=branch,prefix=${{ env.CI_NAME }}-
type=semver,pattern={{major}}.{{minor}},prefix=${{ env.CI_NAME }}-
- name: Set build type
run: |
Expand All @@ -85,21 +84,18 @@ jobs:
fi
- name: Build repository
uses: 'ros-industrial/industrial_ci@master'
uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
env:
OS_NAME: ubuntu
OS_CODE_NAME: focal
ROS_REPO: main
DOCKER_IMAGE: ubuntu:20.04
ROS_DISTRO: false
ADDITIONAL_DEBS: 'curl lsb-release'
AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow"
DOCKER_IMAGE: "rosindustrial/tesseract:${{ env.ROS_DISTRO }}"
PARALLEL_TESTS: false
PARALLEL_BUILDS: false
PREFIX: ${{ github.repository }}_
BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source $BASEDIR/${PREFIX}target_ws/install/setup.bash"
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DTESSERACT_ENABLE_TESTING=ON"
AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps --verbose tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph tesseract_srdf tesseract_state_solver tesseract_urdf --make-args test'
BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source $BASEDIR/${PREFIX}target_ws/install/setup.bash"
DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}

- name: Push post-build Docker
Expand Down
21 changes: 9 additions & 12 deletions .github/workflows/nightly.yml
Original file line number Diff line number Diff line change
Expand Up @@ -19,28 +19,25 @@ jobs:
matrix:
env:
- {CI_NAME: Bionic-Build-Nightly,
OS_NAME: ubuntu,
OS_CODE_NAME: bionic,
ROS_DISTRO: melodic,
ROS_REPO: main,
DOCKER_IMAGE: ubuntu:18.04
ROS_DISTRO: false
ADDITIONAL_DEBS: 'curl lsb-release'
AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
UPSTREAM_WORKSPACE: 'dependencies.rosinstall',
DOWNSTREAM_WORKSPACE: 'github:ros-industrial-consortium/tesseract_planning#master github:ros-industrial-consortium/trajopt_ros#master github:ros-industrial-consortium/tesseract_ros#master',
ROSDEP_SKIP_KEYS: "bullet ros_industrial_cmake_boilerplate fcl iwyu",
DOCKER_IMAGE: "rosindustrial/tesseract:melodic",
CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Bionic-Build-Nightly/.ccache",
PARALLEL_TESTS: false,
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
DOWNSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"}
- {CI_NAME: Focal-Build-Nightly,
OS_NAME: ubuntu,
OS_CODE_NAME: focal,
ROS_DISTRO: noetic,
ROS_REPO: main,
DOCKER_IMAGE: ubuntu:20.04
ROS_DISTRO: false
ADDITIONAL_DEBS: 'curl lsb-release'
AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
UPSTREAM_WORKSPACE: 'dependencies.rosinstall',
DOWNSTREAM_WORKSPACE: 'github:ros-industrial-consortium/tesseract_planning#master github:ros-industrial-consortium/trajopt_ros#master github:ros-industrial-consortium/tesseract_ros#master',
ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow",
DOCKER_IMAGE: "rosindustrial/tesseract:noetic",
CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Focal-Build-Nightly/.ccache",
UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
Expand Down Expand Up @@ -74,5 +71,5 @@ jobs:
restore-keys: |
${{ matrix.env.CI_NAME }}-ccache-
- uses: 'ros-industrial/industrial_ci@master'
- uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
env: ${{matrix.env}}

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