tesseract-robotics · Levi-Armstrong · Nov 12, 2023 · Nov 9, 2023
diff --git a/.github/workflows/benchmarking.yml b/.github/workflows/benchmarking.yml
@@ -11,8 +11,30 @@ on:
 jobs:
   benchmark:
     runs-on: ubuntu-latest
+    container:
+      image: ubuntu:20.04
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/benchmark/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
+        with:
+          path: target_ws/src
+
+      - name: Install Depends
+        shell: bash
+        run: |
+          apt update
+          apt upgrade -y
+          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git liboctomap-dev
+          python3 -m pip install vcstool -q
+          python3 -m pip install colcon-common-extensions -q
+          python3 -m pip install rosdep -q
+          rosdep init
+          rosdep update
+          cd $GITHUB_WORKSPACE/target_ws/src
+          ./.github/workflows/add_ros_apt_sources.sh
 
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -29,26 +51,32 @@ jobs:
           restore-keys: |
             benchmark-ccache-
 
-      - uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env:
-          DOCKER_IMAGE: ubuntu:20.04
-          ROS_DISTRO: false
-          ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev'
-          AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
-          UPSTREAM_WORKSPACE: 'dependencies.repos'
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
-          CCACHE_DIR: "${{ github.workspace }}/benchmark/.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"
-          DOCKER_RUN_OPTS: '-v ${{ github.workspace }}/benchmarks:/root/benchmarks'
-          AFTER_SCRIPT: '$target_ws/src/tesseract/.run_combine_benchmark_results'
+      - name: Build Upstream Workspace
+        shell: bash
+        run: |
+          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
+          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
+          cd $GITHUB_WORKSPACE/upstream_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
+          if [ $? -ge 1 ]; then return 1; fi
+
+      - name: Build Target Workspace And Run Benchmarks
+        shell: bash
+        run: |
+          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
+          cd $GITHUB_WORKSPACE/target_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=OFF -DTESSERACT_ENABLE_BENCHMARKING=ON -DTESSERACT_ENABLE_RUN_BENCHMARKING=ON -DBENCHMARK_ARGS=CI_ONLY
+          if [ $? -ge 1 ]; then return 1; fi
+          ./src/.run_combine_benchmark_results
 
       - name: Store Bullet Discrete, FCL Discrete and Environment benchmark result
         uses: benchmark-action/github-action-benchmark@v1
         with:
           name: C++ Benchmark
           tool: 'googlecpp'
-          output-file-path: ${{ github.workspace }}/benchmarks/tesseract-benchmark_result.json
+          output-file-path: $GITHUB_WORKSPACE/target_ws/benchmarks/tesseract-benchmark_result.json
           benchmark-data-dir-path: tesseract/dev/bench
           gh-repository: github.com/tesseract-robotics/tesseract_docs
           github-token: ${{ secrets.GITHUB_TOKEN }}

diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml
@@ -24,33 +24,35 @@ jobs:
         include:
           - job_type: clang-tidy
             env:
-              TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
-              NOT_TEST_BUILD: true
+              TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
           - job_type: codecov
             env:
-              TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
-              AFTER_SCRIPT: 'ici_with_unset_variables source ${HOME}/${PREFIX}target_ws/install/setup.bash && cd ${HOME}/${PREFIX}target_ws && colcon build --cmake-target ccov-all --packages-select tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf && cd src/tesseract && git config --global --add safe.directory ${HOME}/${PREFIX}target_ws/src/tesseract && bash <(curl -s https://codecov.io/bash) -t 758610a6-d851-4185-a01a-5b9465889b62 -s ${HOME}/${PREFIX}target_ws/build -f *all-merged.info'
-    env:
-      DOCKER_IMAGE: ubuntu:20.04
-      ROS_DISTRO: false
-      PREFIX: ${{ github.repository }}_
-      ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev clang-tidy'
-      AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
-      UPSTREAM_WORKSPACE: 'dependencies.repos'
-      ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
-      CCACHE_DIR: "${{ github.workspace }}/${{ matrix.job_type }}/.ccache"
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
+              TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
+    container:
+      image: ubuntu:20.04
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.job_type }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
-      - uses: actions/checkout@v2
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
 
-      - name: Free Disk Space
-        continue-on-error: true
+      - name: Install Depends
+        shell: bash
         run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
+          apt update
+          apt upgrade -y
+          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git clang-tidy liboctomap-dev
+          python3 -m pip install vcstool -q
+          python3 -m pip install colcon-common-extensions -q
+          python3 -m pip install rosdep -q
+          rosdep init
+          rosdep update
+          cd $GITHUB_WORKSPACE/target_ws/src
+          ./.github/workflows/add_ros_apt_sources.sh
 
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -68,7 +70,31 @@ jobs:
           restore-keys: |
             ${{ matrix.job_type }}-ccache-
 
-      - name: Build repository
-        uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env: ${{ matrix.env }}
+      - name: Build Upstream Workspace
+        shell: bash
+        run: |
+          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
+          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
+          cd $GITHUB_WORKSPACE/upstream_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
+          if [ $? -ge 1 ]; then return 1; fi
+
+      - name: Build Target Workspace
+        shell: bash
+        run: |
+          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
+          cd $GITHUB_WORKSPACE/target_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args ${{ matrix.env.TARGET_CMAKE_ARGS }}
+          if [ $? -ge 1 ]; then return 1; fi
 
+      - name: Upload CodeCov Results
+        shell: bash
+        run: |
+          if [[ "${{ matrix.job_type }}" == "codecov" ]]; then
+            source $GITHUB_WORKSPACE/target_ws/install/setup.bash
+            cd $GITHUB_WORKSPACE/target_ws
+            colcon build --cmake-target ccov-all --packages-select tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf
+            bash <(curl -s https://codecov.io/bash) -t 758610a6-d851-4185-a01a-5b9465889b62 -s $GITHUB_WORKSPACE/target_ws/build -f *all-merged.info
+          fi
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -17,24 +17,32 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [bionic, focal]
-        include:
-          - distro: bionic
-            image: ubuntu:18.04
-          - distro: focal
-            image: ubuntu:20.04
-
+        distro: [focal, jammy]
+    container:
+      image: ubuntu:${{ matrix.distro }}
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
-      - uses: actions/checkout@v2
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
 
-      - name: Free Disk Space
-        continue-on-error: true
+      - name: Install Depends
+        shell: bash
         run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
+          apt update
+          apt upgrade -y
+          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git liboctomap-dev
+          python3 -m pip install vcstool -q
+          python3 -m pip install colcon-common-extensions -q
+          python3 -m pip install rosdep -q
+          rosdep init
+          rosdep update
+          cd $GITHUB_WORKSPACE/target_ws/src
+          ./.github/workflows/add_ros_apt_sources.sh
 
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -52,16 +60,31 @@ jobs:
           restore-keys: |
             ${{ matrix.distro }}-ccache-
 
-      - uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env:
-          DOCKER_IMAGE: ${{ matrix.image }}
-          ROS_DISTRO: false
-          ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev'
-          AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
-          UPSTREAM_WORKSPACE: 'dependencies.repos'
-          DOWNSTREAM_WORKSPACE: 'github:ros-industrial-consortium/tesseract_planning#master github:ros-industrial-consortium/trajopt_ros#master github:ros-industrial-consortium/tesseract_ros#master'
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
-          CCACHE_DIR: "${{ github.workspace }}/${{ matrix.distro}}/.ccache"
-          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          DOWNSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
+      - name: Build Upstream Workspace
+        shell: bash
+        run: |
+          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
+          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
+          cd $GITHUB_WORKSPACE/upstream_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
+          if [ $? -ge 1 ]; then return 1; fi
+
+      - name: Build Target Workspace
+        shell: bash
+        run: |
+          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
+          cd $GITHUB_WORKSPACE/target_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
+          if [ $? -ge 1 ]; then return 1; fi
+
+      - name: Run Tests
+        shell: bash
+        run: |
+          cd $GITHUB_WORKSPACE/target_ws
+          source $GITHUB_WORKSPACE/target_ws/install/setup.bash
+          colcon test --event-handlers console_direct+ --return-code-on-test-failure
+          if [ $? -ge 1 ]; then return 1; fi
+          colcon test-result --verbose
+          if [ $? -ge 1 ]; then return 1; fi
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -24,23 +24,31 @@ jobs:
       fail-fast: false
       matrix:
         distro: [focal, jammy]
-    env:
-      CCACHE_DIR: "${{ github.workspace }}/${{ matrix.distro }}/.ccache"
-      REGISTRY: ghcr.io
-      IMAGE_NAME: ${{ github.repository }}
-      PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
+    container:
+      image: ubuntu:${{ matrix.distro }}
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
 
-      - name: Free disk space
-        continue-on-error: true
+      - name: Install Depends
+        shell: bash
         run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
+          apt update
+          apt upgrade -y
+          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git liboctomap-dev
+          python3 -m pip install vcstool -q
+          python3 -m pip install colcon-common-extensions -q
+          python3 -m pip install rosdep -q
+          rosdep init
+          rosdep update
+          cd $GITHUB_WORKSPACE/target_ws/src
+          ./.github/workflows/add_ros_apt_sources.sh
 
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -58,51 +66,31 @@ jobs:
           restore-keys: |
             ${{ matrix.distro }}-ccache-
 
-      - name: Login to Github container registry
-        uses: docker/login-action@v1
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract Docker meta-information
-        id: meta
-        uses: docker/metadata-action@v3
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-          flavor: |
-            latest=false
-            prefix=
-            suffix=
-          tags: |
-            type=ref,event=branch,prefix=${{ matrix.distro }}-
-            type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.distro }}-
-
-      - name: Set build type
+      - name: Build Upstream Workspace
+        shell: bash
         run: |
-          if [[ "${{ env.PUSH_DOCKER_IMAGE }}" = true ]]
-          then
-            echo "BUILD_TYPE=Release" >> $GITHUB_ENV
-          else
-            echo "BUILD_TYPE=Debug" >> $GITHUB_ENV
-          fi
+          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
+          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
+          cd $GITHUB_WORKSPACE/upstream_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
+          if [ $? -ge 1 ]; then return 1; fi
 
-      - name: Build repository
-        uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env:
-          DOCKER_IMAGE: ubuntu:${{ matrix.distro }}
-          ROS_DISTRO: false
-          ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev'
-          AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
-          UPSTREAM_WORKSPACE: 'dependencies.repos'
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
-          PREFIX: ${{ github.repository }}_
-          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DTESSERACT_ENABLE_TESTING=ON"
-          BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source $BASEDIR/${PREFIX}target_ws/install/setup.bash"
-          AFTER_SCRIPT: 'rm -r $BASEDIR/${PREFIX}upstream_ws/build $BASEDIR/${PREFIX}target_ws/build'
-          DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}
+      - name: Build Target Workspace
+        shell: bash
+        run: |
+          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
+          cd $GITHUB_WORKSPACE/target_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
+          if [ $? -ge 1 ]; then return 1; fi
 
-      - name: Push post-build Docker
-        if: ${{ env.PUSH_DOCKER_IMAGE  == 'true' }}
-        run: docker push ${{ steps.meta.outputs.tags }}
+      - name: Run Tests
+        shell: bash
+        run: |
+          cd $GITHUB_WORKSPACE/target_ws
+          source $GITHUB_WORKSPACE/target_ws/install/setup.bash
+          colcon test --event-handlers console_direct+ --return-code-on-test-failure
+          if [ $? -ge 1 ]; then return 1; fi
+          colcon test-result --verbose
+          if [ $? -ge 1 ]; then return 1; fi