Extending CI jobs #1
Workflow file for this run
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| name: ROS-CI | |
| # This determines when this workflow is run | |
| on: [push, pull_request] # on all pushes and PRs | |
| jobs: | |
| CI: | |
| strategy: | |
| matrix: | |
| env: | |
| # ROS noetic | |
| - {name: "CI (noetic, g++, Release)", ROS_DISTRO: noetic} | |
| - {name: "CI (noetic, clang, Release)", ROS_DISTRO: noetic, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++} | |
| - {name: "CI (noetic, clang, Release, multi-threading)", ROS_DISTRO: noetic, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"} | |
| - {name: "CI (noetic, clang, Debug)", ROS_DISTRO: noetic, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"} | |
| # ROS humble | |
| - {name: "CI (noetic, g++, Release)", ROS_DISTRO: humble} | |
| - {name: "CI (noetic, clang, Release)", ROS_DISTRO: humble, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++} | |
| - {name: "CI (noetic, clang, Release, multi-threading)", ROS_DISTRO: humble, ADDITIONAL_DEBS: "clang libomp-dev", CC: clang, CXX: clang++, CMAKE_ARGS: "-DBUILD_WITH_MULTITHREADS=ON -DBUILD_WITH_NTHREADS=2"} | |
| - {name: "CI (noetic, clang, Debug)", ROS_DISTRO: humble, ADDITIONAL_DEBS: clang, CC: clang, CXX: clang++, CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"} | |
| # Format check | |
| #- {name: "Format check", ROS_DISTRO: noetic, CLANG_FORMAT_CHECK: file, CLANG_FORMAT_VERSION: "6.0", BEFORE_RUN_CLANG_FORMAT_CHECK: "wget https://raw.githubusercontent.com/Gepetto/linters/master/.clang-format-6.0 -O /tmp/clang_format_check/crocoddyl/.clang-format", ADDITIONAL_DEBS: wget} | |
| name: ${{ matrix.env.name }} | |
| env: | |
| CCACHE_DIR: /github/home/.ccache # Enable ccache | |
| UPSTREAM_WORKSPACE: dependencies.rosinstall # to build example-robot-data from source as it's not released via the ROS buildfarm | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| # The following is a work-around for ROS tooling in conjunction with jrl-cmakemodules: | |
| # - catkin_make_isolated has issues with Industrial-CI right now | |
| # - colcon cannot find example-robot-data's python bindings due to ROS1 workspace integration hooks | |
| # - catkin_tools correctly finds example-robot-data in the upstream_ws, but does not execute the 'run_tests' target | |
| # as catkin-tools performs tests as '--catkin-make-args' instead of '--make-args' as colcon and catkin_make_isolated | |
| # The work-around is thus to use catkin_tools for building and sourcing, and to manually specify execution of the test | |
| # target after completion of the regular test target. The output of this step does affect the output of the CI process. | |
| # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws. | |
| BUILDER: catkin_tools | |
| AFTER_RUN_TARGET_TEST: 'source /root/target_ws/install/setup.bash && cd /root/target_ws/build/crocoddyl && env && make test' | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: recursive | |
| # This step will fetch/store the directory used by ccache before/after the ci run | |
| - uses: actions/cache@v2 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }} | |
| # Run industrial_ci - use fork until awaits https://github.com/ros-industrial/industrial_ci/issues/767 is resolved | |
| - uses: 'wxmerkt/industrial_ci@topic/clang-format-check-in-deterministic-location' | |
| env: ${{ matrix.env }} | |
| # # Run industrial_ci | |
| # - uses: 'ros-industrial/industrial_ci@master' | |
| # env: ${{ matrix.env }} |