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Map editing tools and improved local mapping #91

Map editing tools and improved local mapping

Map editing tools and improved local mapping #91

Workflow file for this run

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