Build, Run, Upload (Sequential) #12
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| name: Build, Run, Upload (Sequential) | |
| # Controls when the workflow will run | |
| on: | |
| # Triggers the workflow on push events but only for the $default-branch branch | |
| # push: | |
| # branches: [ 'master' ] | |
| # Allows you to run this workflow manually from the Actions tab | |
| workflow_dispatch: | |
| jobs: | |
| generate-paths: | |
| runs-on: ubuntu-latest | |
| steps: | |
| # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it | |
| - uses: actions/checkout@v4 | |
| - name: Setup | |
| uses: ./.github/actions/setup | |
| - name: Generate paths | |
| working-directory: ./topo_geo_paths | |
| run: cargo run -r | |
| - name: Upload trajectory0.txt | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: trajectory0.txt | |
| path: topo_geo_paths/trajectory0.txt | |
| - name: Upload trajectory1 | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: trajectory1 | |
| path: trajectory1.txt | |
| - name: Upload trajectory2 | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: trajectory2 | |
| path: trajectory2.txt | |
| - name: Optimize trajectory0 | |
| run: python3 optimize_feasible.py --filename topo_geo_paths/trajectory0.txt --output trajectory0_opt.txt 2>/dev/null | |
| - name: Upload trajectory0_opt | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: trajectory0_opt.txt | |
| path: trajectory0_opt.txt | |
| - name: Optimize trajectory1 | |
| run: python3 optimize_feasible.py --filename topo_geo_paths/trajectory1.txt --output trajectory1_opt.txt 2>/dev/null | |
| - name: Upload trajectory1_opt | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: trajectory1_opt.txt | |
| path: trajectory1_opt.txt | |
| - name: Optimize trajectory2 | |
| run: python3 optimize_feasible.py --filename topo_geo_paths/trajectory2.txt --output trajectory2_opt.txt 2>/dev/null | |
| - name: Upload trajectory2_opt | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: trajectory2_opt.txt | |
| path: trajectory2_opt.txt | |
| # Skip warehouse-ros-mongo dependency: https://github.com/moveit/warehouse_ros_mongo/issues/75 | |
| - name: Build ros2_ws | |
| run: cd ros2_ws && source /opt/ros/humble/setup.bash && rosdep update && rosdep install -r -y --from-paths . --ignore-src --skip-keys warehouse_ros_mongo && colcon build | |
| # - name: Build ros2_ws | |
| # run: cd ros2_ws && source /opt/ros/humble/setup.bash && colcon build | |
| - name: Visualize trajectory0 | |
| run: source ros2_ws/install/setup.bash; python3 drake_viz.py --filename=trajectory0_opt.txt --html_output=trajectory0_opt.html | |
| - name: Upload trajectory0_opt.html | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: trajectory0_opt.html | |
| path: trajectory0_opt.html | |
| - name: Visualize trajectory1 | |
| run: source ros2_ws/install/setup.bash; python3 drake_viz.py --filename=trajectory1_opt.txt --html_output=trajectory1_opt.html | |
| - name: Upload trajectory1_opt.html | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: trajectory1_opt.html | |
| path: trajectory1_opt.html | |
| - name: Visualize trajectory2 | |
| run: source ros2_ws/install/setup.bash; python3 drake_viz.py --filename=trajectory2_opt.txt --html_output=trajectory2_opt.html | |
| - name: Upload trajectory2_opt.html | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: trajectory2_opt.html | |
| path: trajectory2_opt.html | |
| upload_pages: | |
| needs: generate-paths | |
| environment: | |
| name: github-pages | |
| url: ${{ steps.deployment.outputs.page_url }} | |
| runs-on: ubuntu-latest | |
| permissions: | |
| pages: write # to deploy to Pages | |
| id-token: write # to verify the deployment originates from an appropriate source | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Download trajectory0_opt.html | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: trajectory0_opt.html | |
| path: pages | |
| - name: Download trajectory1_opt.html | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: trajectory1_opt.html | |
| path: pages | |
| - name: Download trajectory2_opt.html | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: trajectory2_opt.html | |
| path: pages | |
| - name: Setup Pages | |
| uses: actions/configure-pages@v5 | |
| - name: Upload artifact | |
| uses: actions/upload-pages-artifact@v3 | |
| with: | |
| path: pages | |
| - name: Deploy to GitHub Pages | |
| id: deployment | |
| uses: actions/deploy-pages@v4 | |