Simplify chunked octree traversals #64
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| name: ROS1 Interface | |
| on: | |
| push: | |
| tags: | |
| - "v*.*.*" | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| env: | |
| REPOSITORY_NAME: wavemap | |
| DOCKER_REGISTRY: ghcr.io | |
| DOCKER_CI_IMAGE_NAME: ci_wavemap_ros1 | |
| DOCKER_RELEASE_IMAGE_NAME: wavemap_ros1 | |
| USER_HOME: /home/ci | |
| CATKIN_WS_PATH: /home/ci/catkin_ws | |
| CCACHE_DIR: /home/ci/ccache | |
| PRE_COMMIT_DIR: /home/ci/pre-commit | |
| jobs: | |
| workspace-container: | |
| name: Build ROS1 container | |
| runs-on: ubuntu-20.04 | |
| outputs: | |
| image: ${{ steps.ref-names.outputs.ci_image }} | |
| steps: | |
| - name: Common variables | |
| id: ref-names | |
| run: | | |
| echo "cache=${{ env.DOCKER_REGISTRY }}/ethz-asl/${{ env.DOCKER_CI_IMAGE_NAME }}:buildcache" >> $GITHUB_OUTPUT | |
| echo "ci_image=${{ env.DOCKER_REGISTRY }}/ethz-asl/${{ env.DOCKER_CI_IMAGE_NAME }}:${{ github.sha }}" >> $GITHUB_OUTPUT | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| with: | |
| path: ${{ env.REPOSITORY_NAME }} | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| - name: Log in to ${{ env.DOCKER_REGISTRY }} registry | |
| uses: docker/login-action@v3.3.0 | |
| with: | |
| registry: ${{ env.DOCKER_REGISTRY }} | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Build the image | |
| uses: docker/build-push-action@v6 | |
| env: | |
| DOCKER_BUILD_SUMMARY: false | |
| DOCKER_BUILD_RECORD_UPLOAD: false | |
| with: | |
| context: ${{ env.REPOSITORY_NAME }} | |
| file: ${{ env.REPOSITORY_NAME }}/tooling/docker/ros1/full.Dockerfile | |
| target: workspace | |
| build-args: | | |
| REPOSITORY_NAME=${{ env.REPOSITORY_NAME }} | |
| USER_HOME=${{ env.USER_HOME }} | |
| CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }} | |
| CCACHE_DIR=${{ env.CCACHE_DIR }} | |
| load: true | |
| cache-from: type=registry,ref=${{ steps.ref-names.outputs.cache }} | |
| cache-to: type=registry,mode=max,ref=${{ steps.ref-names.outputs.cache }} | |
| tags: ${{ steps.ref-names.outputs.ci_image }} | |
| - name: Test the image | |
| run: docker run --rm ${{ steps.ref-names.outputs.ci_image }} | |
| - name: Push the CI image | |
| uses: docker/build-push-action@v6 | |
| env: | |
| DOCKER_BUILD_SUMMARY: false | |
| DOCKER_BUILD_RECORD_UPLOAD: false | |
| with: | |
| context: ${{ env.REPOSITORY_NAME }} | |
| file: ${{ env.REPOSITORY_NAME }}/tooling/docker/ros1/full.Dockerfile | |
| target: workspace | |
| build-args: | | |
| REPOSITORY_NAME=${{ env.REPOSITORY_NAME }} | |
| USER_HOME=${{ env.USER_HOME }} | |
| CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }} | |
| CCACHE_DIR=${{ env.CCACHE_DIR }} | |
| push: true | |
| cache-from: type=registry,ref=${{ steps.ref-names.outputs.cache }} | |
| tags: ${{ steps.ref-names.outputs.ci_image }} | |
| - name: Generate release image metadata | |
| if: startsWith(github.event.ref, 'refs/tags/v') | |
| id: meta | |
| uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7 | |
| with: | |
| images: ${{ env.DOCKER_REGISTRY }}/ethz-asl/${{ env.DOCKER_RELEASE_IMAGE_NAME }} | |
| - name: Publish the release image | |
| if: startsWith(github.event.ref, 'refs/tags/v') | |
| uses: docker/build-push-action@v6 | |
| env: | |
| DOCKER_BUILD_SUMMARY: false | |
| DOCKER_BUILD_RECORD_UPLOAD: false | |
| with: | |
| context: ${{ env.REPOSITORY_NAME }} | |
| file: ${{ env.REPOSITORY_NAME }}/tooling/docker/ros1/full.Dockerfile | |
| target: workspace | |
| build-args: | | |
| REPOSITORY_NAME=${{ env.REPOSITORY_NAME }} | |
| USER_HOME=${{ env.USER_HOME }} | |
| CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }} | |
| CCACHE_DIR=${{ env.CCACHE_DIR }} | |
| push: true | |
| cache-from: type=registry,ref=${{ steps.ref-names.outputs.cache }} | |
| tags: ${{ steps.meta.outputs.tags }} | |
| labels: ${{ steps.meta.outputs.labels }} | |
| build: | |
| name: Build | |
| needs: workspace-container | |
| runs-on: ubuntu-20.04 | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: hendrikmuhs/ccache-action@v1.2 | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-ros1 | |
| create-symlink: true | |
| - name: Build all wavemap packages | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| catkin build wavemap_all --no-status --force-color | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| install: | |
| name: Install | |
| needs: [ workspace-container, build ] | |
| runs-on: ubuntu-20.04 | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: hendrikmuhs/ccache-action@v1.2 | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-ros1 | |
| create-symlink: true | |
| - name: Enable catkin install mode | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| catkin config --install | |
| catkin clean -bdi -y | |
| - name: Build all wavemap packages | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| . /opt/ros/noetic/setup.sh | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| catkin build wavemap_all --no-status --force-color | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| test: | |
| name: Test | |
| needs: [ workspace-container, build ] | |
| runs-on: ubuntu-20.04 | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v4 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: hendrikmuhs/ccache-action@v1.2 | |
| with: | |
| key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-ros1 | |
| create-symlink: true | |
| - name: Build regular code | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: catkin build wavemap_all --no-status --force-color --cmake-args -DDCHECK_ALWAYS_ON=ON | |
| - name: Build unit tests | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| catkin build wavemap_all --no-status --force-color --no-deps --cmake-args -DDCHECK_ALWAYS_ON=ON --catkin-make-args tests | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| - name: Run unit tests | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| all_tests_passed=1 | |
| source devel/setup.bash | |
| for f in devel/lib/wavemap*/test_* | |
| do $f --gtest_color=yes || all_tests_passed=0 | |
| done | |
| if [ $all_tests_passed -ne 1 ]; then | |
| echo "Not all tests passed!" | |
| exit 1 | |
| fi |