CI pipeline #1
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| name: ROS2 CI | |
| on: | |
| pull_request: | |
| branches: [ "master" ] | |
| types: [ opened, reopened, ready_for_review, synchronize ] | |
| workflow_dispatch: | |
| inputs: | |
| check_all_files: | |
| description: 'Flag whether to lint all files' | |
| required: false | |
| default: true | |
| type: boolean | |
| jobs: | |
| extract-image: | |
| name: Extraction of configs | |
| runs-on: ubuntu-latest | |
| outputs: | |
| image-url: ${{ steps.extractor.outputs.image_url }} | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v3 | |
| - name: Extract image URL | |
| id: extractor | |
| run: | | |
| IMAGE_URL=$(grep -o 'image:\s*[^ ]*' docker-compose.yaml | cut -d ' ' -f2) | |
| echo "image_url=$IMAGE_URL" >> $GITHUB_OUTPUT | |
| echo $IMAGE_URL | |
| build-and-check: | |
| name: Building, testing, linting | |
| needs: extract-image | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ${{ needs.extract-image.outputs.image-url}} | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v3 | |
| - name: Build ROS2 packages | |
| shell: bash | |
| run: | | |
| source $ROS_ROOT/setup.bash | |
| cd $GITHUB_WORKSPACE/packages | |
| mkdir -p camera/params | |
| colcon build --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCMAKE_TOOLS_ADDRESS_SANITIZER=1 | |
| source install/setup.bash | |
| - name: Test ROS2 packages | |
| shell: bash | |
| run: | | |
| cd $GITHUB_WORKSPACE/packages | |
| colcon test --ctest-args tests --merge-install --executor parallel --parallel-workers $(nproc) --return-code-on-test-failure | |
| - name: Fetch PR base branch | |
| shell: bash | |
| run: | | |
| git config --global --add safe.directory $GITHUB_WORKSPACE | |
| git fetch origin ${{ github.event.pull_request.base.ref }}:${{ github.event.pull_request.base.ref }} | |
| - name: Lint changed files only | |
| if: ${{ !inputs.check_all_files }} | |
| uses: pre-commit/[email protected] | |
| with: | |
| extra_args: clang-tidy --from-ref ${{ github.event.pull_request.base.sha }} --to-ref ${{ github.sha }} | |
| - name: Lint all files | |
| if: ${{ inputs.check_all_files }} | |
| uses: pre-commit/[email protected] | |
| with: | |
| extra_args: clang-tidy --all-files |