Add initial ROS2 humble packages (#2474) #446
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| # GitHub Actions triggers based on the PR's and each commits on develop and master | |
| name: "CI: Run tests" | |
| on: | |
| pull_request: | |
| types: [opened, synchronize, reopened] | |
| push: | |
| branches: [develop, develop-humble, master] | |
| jobs: | |
| determine_docker_org_and_tag: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Determine Docker organization and tag | |
| id: docker-org-and-tag | |
| uses: usdot-fhwa-stol/actions/docker-org-and-tag@main | |
| outputs: | |
| docker_org: ${{ steps.docker-org-and-tag.outputs.docker_organization }} | |
| docker_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }} | |
| build: | |
| needs: determine_docker_org_and_tag | |
| defaults: | |
| run: | |
| shell: bash | |
| working-directory: "/opt/carma/" | |
| # Specify the runner environment | |
| runs-on: ubuntu-latest-16-cores | |
| # Set up a Docker container for the job | |
| container: | |
| image: ${{ needs.determine_docker_org_and_tag.outputs.docker_org }}/autoware.ai:${{ needs.determine_docker_org_and_tag.outputs.docker_tag }} | |
| env: | |
| INIT_ENV: "/home/carma/.base-image/init-env.sh" | |
| ROS_2_ENV: "/opt/ros/humble/setup.bash" | |
| TERM: xterm | |
| options: "--user root" | |
| steps: | |
| - name: Determine base branch | |
| id: determine-base-branch | |
| run: | | |
| if [[ "$GITHUB_EVENT_NAME" == "pull_request" ]]; then | |
| echo git_branch="$GITHUB_BASE_REF" >> $GITHUB_OUTPUT | |
| else | |
| echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT | |
| fi | |
| - name: Checkout ${{ github.event.repository.name }} | |
| # Check out the repository code | |
| uses: actions/checkout@v3.3.0 | |
| with: | |
| fetch-depth: 0 | |
| path: src/${{ github.event.repository.name }} | |
| - name: Move source code | |
| # Move the source code to the desired location | |
| run: mv $GITHUB_WORKSPACE/src /opt/carma/ | |
| - name: Checkout dependencies | |
| # Checkout project dependencies | |
| run: | | |
| source "$INIT_ENV" | |
| ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }} | |
| - name: Install external dependencies | |
| # Install the multiple object tracking deps | |
| run: sudo bash /opt/carma/src/multiple_object_tracking/scripts/install_dependencies.sh | |
| # TODO WIP Humble Upgrade: Remove after humble upgrade is done | |
| - name: Read packages from file | |
| run: | | |
| PACKAGES=$(cat /opt/carma/src/${{ github.event.repository.name }}/.github/workflows/humble-upgraded-packages.txt) | |
| echo "PACKAGES=$PACKAGES" >> $GITHUB_ENV | |
| - name: Build ROS2 | |
| run: | | |
| source "$INIT_ENV" | |
| source "$ROS_2_ENV" | |
| source /opt/autoware.ai/ros/install/setup.bash | |
| COLCON_CMD="colcon build --parallel-workers 4" | |
| NEW_CMD="colcon build --continue-on-error --parallel-workers 16 --packages-up-to \$PACKAGES" | |
| sed -i "s|$COLCON_CMD|$NEW_CMD|" /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash | |
| make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Run ROS2 C++ Tests | |
| run: | | |
| source "$INIT_ENV" | |
| source "$ROS_2_ENV" | |
| source /opt/autoware.ai/ros/install/setup.bash | |
| COLCON_CMD="colcon test --return-code-on-test-failure --parallel-workers 4 --event-handlers console_direct+" | |
| NEW_CMD="colcon test --return-code-on-test-failure --parallel-workers 16 --event-handlers console_cohesion+ --packages-select \$PACKAGES --ctest-args --output-on-failure" | |
| sed -i "s|$COLCON_CMD|$NEW_CMD|" /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash | |
| make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Run SonarScanner | |
| # Run SonarScanner for code analysis | |
| uses: usdot-fhwa-stol/actions/sonar-scanner@main | |
| with: | |
| sonar-token: ${{ secrets.SONAR_TOKEN }} | |
| working-dir: "/opt/carma/src/${{ github.event.repository.name }}" |