[ROS-O] Modernize CI / cmake #101
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| # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | |
| # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | |
| name: CI | |
| on: [push, pull_request] | |
| jobs: | |
| default: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - IMAGE: melodic | |
| CCOV: true | |
| CATKIN_LINT: true | |
| UPSTREAM_WORKSPACE: github:PickNikRobotics/rviz_visual_tools#master | |
| - IMAGE: noetic | |
| CATKIN_LINT: true | |
| env: | |
| DOCKER_IMAGE: 'moveit/moveit:${{ matrix.env.IMAGE }}-release' | |
| AFTER_RUN_TARGET_TEST: ${{ matrix.env.CCOV && './.ci.prepare_codecov' || '' }} | |
| TARGET_CMAKE_ARGS: > | |
| -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'RelWithDebInfo' || 'Release'}} | |
| ${{ matrix.env.CCOV && '-DCMAKE_CXX_FLAGS="--coverage" --no-warn-unused-cli' || '' }} | |
| CCACHE_DIR: "${{ github.workspace }}/.ccache" | |
| BASEDIR: ${{ github.workspace }}/.work | |
| CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}" | |
| CLANG_TIDY_BASE_REF: "${{ github.base_ref || github.ref }}" | |
| name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: cache upstream_ws | |
| uses: pat-s/always-upload-cache@v2.1.3 | |
| with: | |
| path: ${{ env.BASEDIR }}/upstream_ws | |
| key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.rosinstall') }}-${{ github.run_id }} | |
| restore-keys: | | |
| upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.rosinstall') }} | |
| - name: cache ccache | |
| uses: actions/cache@v2 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} | |
| restore-keys: | | |
| ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }} | |
| ccache-${{ env.CACHE_PREFIX }} | |
| - name: industrial_ci | |
| uses: 'ros-industrial/industrial_ci@master' | |
| env: ${{ matrix.env }} | |
| - name: upload test artifacts (on failure) | |
| uses: actions/upload-artifact@v2 | |
| if: failure() | |
| with: | |
| name: test-results | |
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | |
| - name: upload codecov report | |
| uses: codecov/codecov-action@v1 | |
| if: ${{ matrix.env.CCOV }} | |
| with: | |
| files: ${{ env.BASEDIR }}/coverage.info |