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Ubuntu CI action

Compile and run tests for Gazebo libraries.

Usage

Add the following file to a Gazebo repository: .github/workflows/ci.yml

name: Ubuntu CI

on: [push, pull_request]

jobs:
  focal-ci:
    runs-on: ubuntu-latest
    name: Ubuntu Focal CI
    steps:
      - name: Checkout
        uses: actions/checkout@v2
      - name: Compile and test
        id: ci
        uses: gazebo-tooling/ubuntu-ci-action@focal
        with:
          codecov-enabled: true
          doxygen-enabled: true
          cmake-args: '-DBUILD_TESTING=1'

Dependencies

APT dependencies

Be sure to declare all apt-installable dependencies in the following files, one package per line.

  • .github/ci/packages.apt : Installed for all versions.
  • .github/ci/packages-<system version>.apt : where <system version> can be bionic, focal, etc. Use these if you need to install different dependencies according to the distribution.

See some examples here.

The apt-dependencies input is deprecated. Use the .apt files instead.

Source dependencies

If you need to install dependencies from source, add a vcstool yaml file to:

  • .github/ci/dependencies.yaml : Installed for all versions
  • .github/ci-<system version>/dependencies.yaml : where <system version> can be bionic, focal, etc. Use these if you need to install different dependencies according to the distribution.

Dependencies are built using colcon.

For example, to build a custom gz-rendering branch on gz-gui, add .github/ci/dependencies.yaml (replacing branch_name with the gz-rendering branch you want to use):

repositories:
  gz-rendering:
    type: git
    url: https://github.com/gazebosim/gz-rendering
    version: branch_name

In this example, gz-rendering's dependencies will be installed from its own packages.apt files.

Codecov

For public repositories, Codecov can be enabled with codecov-enabled: true.

For private repositories, create a secret on the repository with Codecov's token and add it through the codecov-token-private-repos input. For example:

        with:
          codecov-token-private-repos: ${{ secrets.CODECOV_TOKEN }}

The codecov-token input has been deprecated, use one of the approaches above.

Custom scripts

You can add optional scripts to be run at specific times of the build. They can be either in .github/ci or /github/ci-<system version> as needed.

  • before_dep_compilation.sh: Runs before dependencies are compiled from source
  • before_cmake.sh: Runs before the cmake call
  • between_cmake_make.sh: Runs after the cmake and before make
  • after_make.sh: Runs after make and before make test
  • after_make_test.sh: Runs after make test

All scripts are sourced inside the build folder. Be sure to move back to the build folder before exiting the script.

Custom CMake Arguments

The cmake-args can be used to pass additional CMake arguments to the build. If building with codecov is enabled, it is not possible to override the build type, which will always be CMAKE_BUILD_TYPE=coverage.

Doxygen

Doxygen checks can be enabled with doxygen-enabled: true. This will make CI fail if there is code not documented properly.

Tests

Tests will run by default, and can be disabled with tests-enabled: false.