Build & test for 342/merge on 38af1f7a03ea36a7c4682f42332919f4d1656796 #282
Workflow file for this run
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name: build-and-test | |
run-name: Build & test for ${{ github.ref_name }} on ${{ github.sha }} | |
on: | |
push: | |
branches: | |
- 'main' | |
- 'develop' | |
pull_request: | |
types: [opened, synchronize, reopened] | |
# Cancel previous runs if new changes on PR/branch | |
concurrency: | |
group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
cancel-in-progress: true | |
jobs: | |
###### PREPARE WORKFLOW ###### | |
checkout-repository: | |
runs-on: self-hosted | |
steps: | |
- name: Checkout repository code | |
uses: actions/checkout@v4 | |
with: | |
clean: false | |
- name: Clean repository excluding RGL blobs repo | |
run: git clean -ffdx -e external/rgl_blobs | |
- name: Import private extensions | |
run: vcs import < extensions.repos | |
- name: Install taped test runtime dependencies | |
run: ./setup.py --fetch-rgl-blobs | |
load-env: | |
uses: ./.github/workflows/load-env-subworkflow.yml | |
###### BUILD USING RGL DOCKER ###### | |
build-core: | |
needs: [checkout-repository, load-env] | |
runs-on: self-hosted | |
steps: | |
- run: ' | |
docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
--build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
--build-arg BUILD_CMD="./setup.py" | |
--target=exporter --output=bin-core .' | |
build-pcl: | |
needs: [checkout-repository, load-env] | |
runs-on: self-hosted | |
steps: | |
- run: ' | |
docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
--build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
--build-arg BUILD_CMD="./setup.py --with-pcl --build-taped-test" | |
--target=exporter --output=bin-pcl .' | |
build-ros2: | |
needs: [ checkout-repository, load-env ] | |
runs-on: self-hosted | |
steps: | |
- run: ' | |
docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
--build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
--build-arg BUILD_CMD=". /opt/ros/\$ROS_DISTRO/setup.sh && ./setup.py --with-ros2-standalone" | |
--target=exporter --output=bin-ros2 .' | |
build-udp: | |
needs: [ checkout-repository, load-env ] | |
runs-on: self-hosted | |
steps: | |
- run: ' | |
docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
--build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
--build-arg BUILD_CMD="./setup.py --with-udp" | |
--target=exporter --output=bin-udp .' | |
build-weather: | |
needs: [ checkout-repository, load-env ] | |
runs-on: self-hosted | |
steps: | |
- run: ' | |
docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
--build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
--build-arg BUILD_CMD="./setup.py --with-weather" | |
--target=exporter --output=bin-weather .' | |
build-all: | |
needs: [ checkout-repository, load-env ] | |
runs-on: self-hosted | |
steps: | |
- run: ' | |
docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
--build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
--build-arg BUILD_CMD=". /opt/ros/\$ROS_DISTRO/setup.sh && ./setup.py --with-pcl --with-ros2-standalone --with-udp --with-weather --build-taped-test" | |
--target=exporter --output=bin-all .' | |
####### TEST WITH RGL DOCKER IMAGE ###### | |
test-core-dev: | |
needs: [build-core] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
test-command: ' | |
cd bin-core/bin/test && ./RobotecGPULidar_test' | |
docker-image: localhost:5000/robotecgpulidar-all:latest | |
test-pcl-dev: | |
needs: [ build-pcl ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
test-command: ' | |
export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs && | |
cd bin-pcl/bin/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test' | |
docker-image: localhost:5000/robotecgpulidar-all:latest | |
test-ros2-dev: | |
needs: [ build-ros2 ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
# Source ROS2 and radar_msgs, standalone build is tested in prod environment | |
# Run tests twice, each for different RMW implementation | |
test-command: ' | |
. /opt/ros/$ROS_DISTRO/setup.sh && | |
. /opt/rgl/external/radar_msgs/install/setup.sh && | |
cd bin-ros2/bin/test && | |
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && | |
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test' | |
docker-image: localhost:5000/robotecgpulidar-all:latest | |
test-udp-dev: | |
needs: [ build-udp ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
test-command: ' | |
cd bin-udp/bin/test && ./RobotecGPULidar_test' | |
docker-image: localhost:5000/robotecgpulidar-all:latest | |
test-weather-dev: | |
needs: [ build-weather ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
test-command: ' | |
cd bin-weather/bin/test && ./RobotecGPULidar_test' | |
docker-image: localhost:5000/robotecgpulidar-all:latest | |
test-all-dev: | |
needs: [ build-all ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
# Source ROS2 and radar_msgs, standalone build is tested in prod environment | |
# Set `RGL_TEST_VLP16_CALIB_FILE` for UDP-ROS2 integration test | |
# Run tests twice, each for different RMW implementation | |
test-command: ' | |
. /opt/ros/$ROS_DISTRO/setup.sh && | |
. /opt/rgl/external/radar_msgs/install/setup.sh && | |
export RGL_TEST_VLP16_CALIB_FILE=$(pwd)/extensions/udp/test/resources/Ros2Vlp16Calib.yaml && | |
export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs && | |
cd bin-all/bin/test && | |
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test && | |
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test' | |
docker-image: localhost:5000/robotecgpulidar-all:latest | |
####### TEST WITH CLEAN UBUNTU DOCKER IMAGE ###### | |
test-core-prod: | |
needs: [build-core] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
test-command: ' | |
cd bin-core/bin/test && ./RobotecGPULidar_test' | |
docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
test-pcl-prod: | |
needs: [ build-pcl ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
# Additionally, install PCL extension dependent libraries for runtime | |
test-command: ' | |
apt update && apt install -y libxcursor1 libgl1 && | |
export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs && | |
cd bin-pcl/bin/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test' | |
docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
test-ros2-prod: | |
needs: [ build-ros2 ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
# Copy ROS2 libraries to be visible for libRobotecGPULidar.so | |
# Run tests twice, each for different RMW implementation | |
test-command: ' | |
cp -p bin-ros2/lib/ros2_standalone/* bin-ros2/lib && | |
cd bin-ros2/bin/test && | |
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && | |
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test' | |
docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
test-udp-prod: | |
needs: [ build-udp ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
test-command: ' | |
cd bin-udp/bin/test && ./RobotecGPULidar_test' | |
docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
test-weather-prod: | |
needs: [ build-weather ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
test-command: ' | |
cd bin-weather/bin/test && ./RobotecGPULidar_test' | |
docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
test-all-prod: | |
needs: [ build-all ] | |
uses: ./.github/workflows/test-subworkflow.yml | |
with: | |
# Install PCL extension dependent libraries for runtime | |
# Copy ROS2 libraries to be visible for libRobotecGPULidar.so | |
# Run tests twice, each for different RMW implementation | |
test-command: ' | |
apt update && apt install -y libxcursor1 libgl1 && | |
export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs && | |
cp -p bin-all/lib/ros2_standalone/* bin-all/lib && | |
cd bin-all/bin/test && | |
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test && | |
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test' | |
docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 |