[SW-1764] allow use of preferred_odom_frame parameter (#538) #1071
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name: CI | |
on: | |
pull_request: | |
push: | |
branches: | |
- main | |
workflow_call: | |
secrets: | |
CODECOV_TOKEN: | |
required: true | |
permissions: | |
contents: write | |
env: | |
# Use docker.io for Docker Hub if empty | |
REGISTRY: ghcr.io | |
# github.repository as <account>/<repo> | |
IMAGE_NAME: bdaiinstitute/spot_ros2_jammy_humble | |
defaults: | |
run: | |
shell: bash | |
concurrency: | |
group: ${{ github.repository }}-${{ github.workflow }}-${{ github.ref }}-${{ github.ref == 'refs/heads/main' && github.sha || ''}} | |
cancel-in-progress: true | |
jobs: | |
lint: | |
name: Lint spot_ros2 packages | |
runs-on: ubuntu-latest | |
strategy: | |
matrix: | |
config: | |
- { python: "3.10" } | |
steps: | |
- name: Checkout repository | |
uses: actions/checkout@v4 | |
- uses: actions/setup-python@v5 | |
with: | |
python-version: ${{ matrix.config.python }} | |
- name: Lint sources | |
uses: pre-commit/[email protected] | |
prepare_container: | |
name: Prepare Humble container for tests | |
runs-on: ubuntu-latest | |
needs: lint | |
permissions: | |
contents: read | |
packages: write | |
# This is used to complete the identity challenge | |
# with sigstore/fulcio when running outside of PRs. | |
id-token: write | |
outputs: | |
image: ${{ fromJSON(steps.meta.outputs.json).tags[0] }} | |
steps: | |
- name: Checkout repository | |
uses: actions/checkout@v4 | |
with: | |
submodules: recursive | |
- name: Setup Docker buildx # to workaround: https://github.com/docker/build-push-action/issues/461 | |
uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf | |
- name: Log into registry ${{ env.REGISTRY }} | |
uses: docker/login-action@v3 # https://github.com/docker/login-action | |
with: | |
registry: ${{ env.REGISTRY }} | |
username: ${{ github.actor }} | |
password: ${{ secrets.GITHUB_TOKEN }} | |
- name: Extract metadata (tags, labels) for Docker | |
uses: docker/metadata-action@v5 # https://github.com/docker/metadata-action | |
with: | |
images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }} | |
id: meta | |
- name: Build and push Docker image (may be cached) | |
uses: docker/build-push-action@v5 # https://github.com/docker/build-push-action | |
with: | |
context: . | |
file: .devcontainer/Dockerfile | |
push: true | |
tags: ${{ steps.meta.outputs.tags }} | |
labels: ${{ steps.meta.outputs.labels }} | |
cache-from: type=gha | |
cache-to: type=gha,mode=max | |
build_and_test_package_and_docs: | |
name: Build and test spot_ros2 packages | |
runs-on: ubuntu-latest | |
needs: prepare_container | |
container: | |
image: ${{ needs.prepare_container.outputs.image }} | |
steps: | |
- name: Checkout repository | |
uses: actions/checkout@v4 | |
with: | |
submodules: recursive | |
- run: git config --global --add safe.directory $GITHUB_WORKSPACE | |
- name: Build packages | |
run: | | |
source /opt/ros/$ROS_DISTRO/setup.bash | |
colcon build --symlink-install --packages-up-to spot_driver spot_description spot_msgs spot_examples spot_ros2_control --cmake-args -DCMAKE_CXX_FLAGS="--coverage" | |
working-directory: ${{ github.workspace }}/../../ | |
- name: Test non-spot-driver packages | |
run: | | |
source install/setup.bash | |
colcon test --event-handlers console_direct+ --packages-select spot_description spot_examples spot_msgs | |
working-directory: ${{ github.workspace }}/../../ | |
# Per https://github.com/colcon/colcon-ros/issues/151, `pytest-args` cannot be used in an ament_cmake package, so in order to pass arguments to pytest we have to run pytest directly | |
- name: Test python part of spot-driver package | |
run: | | |
source install/setup.bash | |
pytest -n auto --cov-report xml --cov-config=$GITHUB_WORKSPACE/.coveragerc --cov-report term --cov=spot_driver $GITHUB_WORKSPACE/spot_driver/test/pytests/ | |
working-directory: ${{ github.workspace }}/../../ | |
- name: Test c++ part of spot-driver packages | |
run: | | |
source install/setup.bash | |
colcon test --event-handlers console_direct+ --packages-select spot_driver | |
working-directory: ${{ github.workspace }}/../../ | |
- name: Generate coverage report | |
run: lcov -c -d build/spot_driver/ -o coverage_spot_driver.info --include "*/spot_driver/*" --exclude "*/test/*" | |
working-directory: ${{ github.workspace }}/../../ | |
- name: Upload python coverage to Coveralls | |
uses: coverallsapp/github-action@v2 | |
with: | |
github-token: ${{ secrets.GITHUB_TOKEN }} | |
fail-on-error: true | |
flag-name: unittests-python | |
parallel: true | |
debug: true | |
files: $(find ../../ -name "coverage.xml" -type f) | |
- name: Upload cpp coverage to Coveralls | |
uses: coverallsapp/github-action@v2 | |
with: | |
github-token: ${{ secrets.GITHUB_TOKEN }} | |
fail-on-error: true | |
flag-name: unittests-cpp | |
debug: true | |
files: ../../coverage_spot_driver.info | |
format: lcov | |
- name: Aggregate coverage | |
uses: coverallsapp/github-action@v2 | |
with: | |
parallel-finished: true | |
carryforward: "unittests-python, unittests-cpp" | |
- if: always() | |
name: Report on test results | |
run: colcon test-result --all --verbose | |
working-directory: ${{ github.workspace }}/../../ | |
- name: Build packages documentation | |
run: | | |
source /opt/ros/$ROS_DISTRO/setup.bash | |
pip install -r docs/requirements.txt | |
# go to documentation folder and build the .rst files | |
cd docs | |
# we don't use the --implicit-namespaces flag | |
sphinx-apidoc -f -o source/ ../ ../*setup* ../examples ../*launch.py ../*command_spot_driver.py | |
cd .. | |
sphinx-build docs _build -v |