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christophfroehlichchristophfroehlich
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Copy over CI from RSL repo
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‎.github/workflows/ci.yaml‎

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name: CI
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on:
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workflow_dispatch:
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pull_request:
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push:
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branches:
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- main
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jobs:
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cmake:
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name: cmake (${{ matrix.ros_distro }}, ${{ matrix.preset }}, ${{ matrix.compiler.name }})
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strategy:
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fail-fast: false
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matrix:
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ros_distro: [humble, jazzy, kilted, rolling]
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preset: [debug, release, asan, codecov]
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compiler:
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- { name: GCC }
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- { name: Clang, flags: -DCMAKE_CXX_COMPILER=clang++ }
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exclude:
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- preset: codecov
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compiler: { name: Clang }
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- preset: codecov
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ros_distro: humble
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- preset: codecov
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ros_distro: jazzy
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- preset: codecov
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ros_distro: kilted
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runs-on: ubuntu-latest
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container: ghcr.io/ros-controls/ros:${{ matrix.ros_distro }}-ubuntu
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env:
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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steps:
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- name: Check out the repo
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uses: actions/checkout@v4
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- name: Cache ccache
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uses: actions/cache@v4
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}-${{ github.sha }}
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ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}
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- name: Install system dependencies
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run: |
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sudo apt update
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sudo apt install -y lld ccache
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- name: Source ROS
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run: |
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. /opt/ros/${{ matrix.ros_distro }}/setup.sh
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echo "$(env)" >> $GITHUB_ENV
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- name: Install ROS dependencies
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run: |
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sudo apt update
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rosdep update
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rosdep install --from-paths . --ignore-src -r -y
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- name: Install Clang
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if: matrix.compiler.name == 'Clang'
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run: sudo apt update && sudo apt install clang
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- name: Configure
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run: cmake --preset ${{ matrix.preset }} ${{ matrix.compiler.flags }} -DCMAKE_INSTALL_PREFIX=install -DCMAKE_VERBOSE_MAKEFILE=ON
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- name: Build
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run: cmake --build build/${{ matrix.preset }} --target install
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- name: Test
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run: ctest --test-dir build/${{ matrix.preset }} --rerun-failed --output-on-failure
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- name: Build Doxygen Site
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run: cmake --build build/${{ matrix.preset }} --target docs
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- name: Analyze
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run: cmake --build build/${{ matrix.preset }} --target tidy
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- name: Generate LCOV report
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if: ${{ matrix.preset == 'codecov' }}
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run: lcov -c -d . -o coverage.info --no-external --exclude "*/build/**" --ignore-errors mismatch
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- uses: codecov/codecov-action@v3
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if: ${{ matrix.preset == 'codecov' }}
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with:
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files: ./coverage.info
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name: codecov-umbrella
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flags: ${{ matrix.ros_distro }}
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ros:
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strategy:
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fail-fast: false
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matrix:
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ros_distro: [humble, jazzy, kilted, rolling]
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runs-on: ubuntu-latest
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container: ghcr.io/ros-controls/ros:${{ matrix.ros_distro }}-ubuntu
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env:
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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steps:
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- name: Check out the repo
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uses: actions/checkout@v4
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- name: Cache ccache
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uses: actions/cache@v4
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-ros-${{ matrix.ros_distro }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-ros-${{ matrix.ros_distro }}-${{ github.sha }}
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ccache-ros-${{ matrix.ros_distro }}
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- name: Install dependencies
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run: |
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sudo apt update
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sudo apt install -y lld ccache
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- uses: ros-tooling/[email protected]
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with:
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package-name: rsl
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target-ros2-distro: ${{ matrix.ros_distro }}
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colcon-defaults: |
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{
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"build": {
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"mixin": ["ccache", "lld"]
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}
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}

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