[CI] Improvements and Cleanups (#1376)

ros-controls · Feb 8, 2024 · 3252a27 · 3252a27
1 parent b8c5418
commit 3252a27
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Showing 7 changed files with 84 additions and 42 deletions.
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -2,6 +2,18 @@ name: ROS Lint
 on:
  pull_request:
 
+env:
+ package-name:
+ controller_interface
+ controller_manager
+ controller_manager_msgs
+ hardware_interface
+ hardware_interface_testing
+ ros2controlcli
+ ros2_control
+ ros2_control_test_assets
+ transmission_interface
+
 jobs:
  ament_lint:
  name: ament_${{ matrix.linter }}
@@ -19,17 +31,7 @@ jobs:
  with:
  distribution: rolling
  linter: ${{ matrix.linter }}
- package-name:
- controller_interface
- controller_manager
- controller_manager_msgs
- hardware_interface
- hardware_interface_testing
- ros2controlcli
- ros2_control
- ros2_control_test_assets
- transmission_interface
-
+ package-name: ${{ env.package-name }}
  ament_lint_100:
  name: ament_${{ matrix.linter }}
  runs-on: ubuntu-latest
@@ -45,13 +47,4 @@ jobs:
  distribution: rolling
  linter: cpplint
  arguments: "--linelength=100 --filter=-whitespace/newline"
- package-name:
- controller_interface
- controller_manager
- controller_manager_msgs
- hardware_interface
- hardware_interface_testing
- ros2controlcli
- ros2_control
- ros2_control_test_assets
- transmission_interface
+ package-name: ${{ env.package-name }}
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
@@ -15,17 +15,24 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: humble
+ skip-packages-build: rqt_controller_manager
+ skip-packages-test: rqt_controller_manager controller_manager_msgs
  container: ghcr.io/ros-controls/ros:humble-debian
  steps:
  - uses: actions/checkout@v4
  with:
  path: src/ros2_control
  ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
- - name: Build and test
+ - name: Build workspace
  shell: bash
  run: |
  source /opt/ros2_ws/install/setup.bash
  vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
+ run: |
+ source /opt/ros2_ws/install/setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
  colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
@@ -14,6 +14,7 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: humble
+ skip-packages: rqt_controller_manager
  container: ghcr.io/ros-controls/ros:humble-rhel
  steps:
  - uses: actions/checkout@v4
@@ -22,12 +23,20 @@ jobs:
  ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
  - name: Install dependencies
  run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
  rosdep update
  rosdep install -iyr --from-path src/ros2_control || true
- - name: Build and test
+ - name: Build workspace
+ run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
  run: |
  source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
- source /opt/ros2_ws/install/setup.bash
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager ros2controlcli
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
  colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
@@ -15,17 +15,24 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: iron
+ skip-packages-build: rqt_controller_manager
+ skip-packages-test: rqt_controller_manager controller_manager_msgs
  container: ghcr.io/ros-controls/ros:iron-debian
  steps:
  - uses: actions/checkout@v4
  with:
  path: src/ros2_control
  ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
- - name: Build and test
+ - name: Build workspace
  shell: bash
  run: |
  source /opt/ros2_ws/install/setup.bash
  vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
+ run: |
+ source /opt/ros2_ws/install/setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
  colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
@@ -14,6 +14,7 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: iron
+ skip-packages: rqt_controller_manager
  container: ghcr.io/ros-controls/ros:iron-rhel
  steps:
  - uses: actions/checkout@v4
@@ -22,12 +23,21 @@ jobs:
  ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
  - name: Install dependencies
  run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
  rosdep update
  rosdep install -iyr --from-path src/ros2_control || true
- - name: Build and test
+ - name: Build workspace
+ # source also underlay workspace with generate_parameter_library on rhel9
+ run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
  run: |
  source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
- source /opt/ros2_ws/install/setup.bash
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager ros2controlcli
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
  colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
@@ -15,18 +15,24 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: rolling
+ skip-packages: rqt_controller_manager
  container: ghcr.io/ros-controls/ros:rolling-debian
  steps:
  - uses: actions/checkout@v4
  with:
  path: src/ros2_control
  # default behavior is correct on master branch
  # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
- - name: Build and test
+ - name: Build workspace
  shell: bash
  run: |
  source /opt/ros2_ws/install/setup.bash
  vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
+ run: |
+ source /opt/ros2_ws/install/setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
  colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
@@ -14,6 +14,7 @@ jobs:
  runs-on: ubuntu-latest
  env:
  ROS_DISTRO: rolling
+ skip-packages: rqt_controller_manager
  container: ghcr.io/ros-controls/ros:rolling-rhel
  steps:
  - uses: actions/checkout@v4
@@ -23,12 +24,21 @@ jobs:
  # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
  - name: Install dependencies
  run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
  rosdep update
  rosdep install -iyr --from-path src/ros2_control || true
- - name: Build and test
+ - name: Build workspace
+ # source also underlay workspace with generate_parameter_library on rhel9
+ run: |
+ source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
+ - name: Test workspace
+ shell: bash
+ continue-on-error: true
  run: |
  source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
- source /opt/ros2_ws/install/setup.bash
- colcon build --packages-skip rqt_controller_manager
- colcon test --packages-skip rqt_controller_manager ros2controlcli
+ source /opt/ros2_ws/install/local_setup.bash
+ colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
  colcon test-result --verbose