Map editing tools and improved local mapping #92
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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 |