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Setup CI (#240)
* Add ROS2 installation to Dockerfile * Add github workflows * Add ROS2 dependencies to dockerfile * Fix docker detection * Fix ROS2 deps installation inside docker * Add missing config entry for docker build * Add load-env validation * Add clarification comment * Source radar_msgs when testing ROS2 on dev environment
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‎.github/workflows/build-and-test.yml‎

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name: build-and-test
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run-name: Build & test for PR '${{ github.event.pull_request.title }}'
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on: [pull_request]
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# Cancel previous runs if new changes on PR/branch
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: true
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jobs:
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###### PREPARE WORKFLOW ######
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checkout-repository:
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runs-on: self-hosted
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steps:
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- name: Checkout repository code
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uses: actions/checkout@v3
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- name: Import private extensions
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run: vcs import < extensions.repos
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load-env:
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uses: ./.github/workflows/load-env-subworkflow.yml
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###### BUILD USING RGL DOCKER ######
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build-core:
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needs: [checkout-repository, load-env]
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uses: ./.github/workflows/build-subworkflow.yml
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with:
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build-command: ./setup.py --build-dir build-core
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self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
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optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
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docker-image: localhost:5000/rgl:latest
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build-pcl:
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needs: [checkout-repository, load-env]
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uses: ./.github/workflows/build-subworkflow.yml
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with:
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build-command: './setup.py --with-pcl --build-dir build-pcl'
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self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
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optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
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docker-image: localhost:5000/rgl:latest
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build-ros2:
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needs: [ checkout-repository, load-env ]
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uses: ./.github/workflows/build-subworkflow.yml
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with:
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build-command: '
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source /opt/ros/humble/setup.bash &&
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./setup.py --with-ros2-standalone --build-dir build-ros2'
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self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
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optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
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docker-image: localhost:5000/rgl:latest
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build-udp:
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needs: [ checkout-repository, load-env ]
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uses: ./.github/workflows/build-subworkflow.yml
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with:
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build-command: './setup.py --with-udp --build-dir build-udp'
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self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
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optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
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docker-image: localhost:5000/rgl:latest
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build-snow:
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needs: [ checkout-repository, load-env ]
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uses: ./.github/workflows/build-subworkflow.yml
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with:
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build-command: './setup.py --with-snow --build-dir build-snow'
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self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
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optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
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docker-image: localhost:5000/rgl:latest
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build-all:
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needs: [ checkout-repository, load-env ]
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uses: ./.github/workflows/build-subworkflow.yml
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with:
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build-command: '
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source /opt/ros/humble/setup.bash &&
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./setup.py --with-pcl --with-ros2-standalone --with-udp --with-snow --build-dir build-all'
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self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
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optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
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docker-image: localhost:5000/rgl:latest
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###### TEST WITH RGL DOCKER IMAGE ######
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test-core-dev:
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needs: [build-core]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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test-command: 'cd build-core/test && ./RobotecGPULidar_test'
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docker-image: localhost:5000/rgl:latest
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test-pcl-dev:
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needs: [ build-pcl ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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test-command: 'cd build-pcl/test && ./RobotecGPULidar_test'
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docker-image: localhost:5000/rgl:latest
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test-ros2-dev:
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needs: [ build-ros2 ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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# Source ROS2 and radar_msgs, standalone build is tested in prod environment
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# Run tests twice, each for different RMW implementation
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test-command: '
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source /opt/ros/humble/setup.bash &&
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source /rgldep/radar_msgs/install/setup.bash &&
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cd build-ros2/test &&
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
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docker-image: localhost:5000/rgl:latest
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test-udp-dev:
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needs: [ build-udp ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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test-command: 'cd build-udp/test && ./RobotecGPULidar_test'
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docker-image: localhost:5000/rgl:latest
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test-snow-dev:
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needs: [ build-snow ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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test-command: 'cd build-snow/test && ./RobotecGPULidar_test'
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docker-image: localhost:5000/rgl:latest
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test-all-dev:
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needs: [ build-all ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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# Source ROS2 and radar_msgs, standalone build is tested in prod environment
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# Set `RGL_TEST_VLP16_CALIB_FILE` for UDP-ROS2 integration test
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# Run tests twice, each for different RMW implementation
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test-command: '
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source /opt/ros/humble/setup.bash &&
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source /rgldep/radar_msgs/install/setup.bash &&
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export RGL_TEST_VLP16_CALIB_FILE=$(pwd)/extensions/udp/test/resources/Ros2Vlp16Calib.yaml &&
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cd build-all/test &&
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
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docker-image: localhost:5000/rgl:latest
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###### TEST WITH CLEAN UBUNTU DOCKER IMAGE ######
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test-core-prod:
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needs: [build-core]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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test-command: 'cd build-core/test && ./RobotecGPULidar_test'
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docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
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test-pcl-prod:
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needs: [ build-pcl ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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# Additionally, install PCL extension dependent libraries for runtime
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test-command: '
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apt update && apt install -y libxcursor1 libgl1 &&
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cd build-pcl/test && ./RobotecGPULidar_test'
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docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
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test-ros2-prod:
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needs: [ build-ros2 ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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# Copy ROS2 libraries to be visible for libRobotecGPULidar.so
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# Run tests twice, each for different RMW implementation
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test-command: '
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cd build-ros2/test &&
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cp -r ../ros2_standalone/*.so* ../ &&
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
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docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
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test-udp-prod:
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needs: [ build-udp ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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test-command: 'cd build-udp/test && ./RobotecGPULidar_test'
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docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
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test-snow-prod:
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needs: [ build-snow ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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test-command: 'cd build-snow/test && ./RobotecGPULidar_test'
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docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
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test-all-prod:
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needs: [ build-all ]
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uses: ./.github/workflows/test-subworkflow.yml
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with:
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# Install PCL extension dependent libraries for runtime
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# Copy ROS2 libraries to be visible for libRobotecGPULidar.so
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# Run tests twice, each for different RMW implementation
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test-command: '
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apt update && apt install -y libxcursor1 libgl1 &&
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cd build-all/test &&
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cp -r ../ros2_standalone/*.so* ../ &&
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
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docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04

‎.github/workflows/build-subworkflow.yml‎

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name: build-subworkflow
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on:
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workflow_call:
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inputs:
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build-command:
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required: true
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type: string
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docker-image:
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required: true
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type: string
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# User id is used to run the docker container as the self-hosted user
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# It allows to delete build files created in the docker while on the host (checkout-repository job)
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# By default, those files are owned by the docker user, and root privileges are required to delete them
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self-hosted-user-id:
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required: true
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type: string
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optix-install-dir:
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required: true
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type: string
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permissions:
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contents: read
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jobs:
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build:
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defaults:
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run:
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shell: bash
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runs-on: self-hosted
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container:
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image: ${{ inputs.docker-image }}
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env:
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OptiX_INSTALL_DIR: /optix
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NVIDIA_DRIVER_CAPABILITIES: all
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volumes:
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- ${{ inputs.optix-install-dir }}:/optix
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options:
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--rm
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--gpus all
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--user ${{ inputs.self-hosted-user-id }}
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steps:
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- name: fix git
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run: git config --global --add safe.directory $PWD
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- name: build
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run: ${{ inputs.build-command }}

‎.github/workflows/load-env-subworkflow.yml‎

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name: load-env-subworkflow
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on:
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workflow_call:
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outputs:
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optix-install-dir:
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value: ${{ jobs.load-env.outputs.optix-install-dir }}
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user-id:
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value: ${{ jobs.load-env.outputs.user-id }}
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jobs:
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load-env:
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runs-on: self-hosted
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outputs:
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optix-install-dir: ${{ steps.set-envs.outputs.optix-install-dir }}
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user-id: ${{ steps.set-envs.outputs.user-id }}
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steps:
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- id: check-envs
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run: |
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if [[ -z "${OptiX_INSTALL_DIR}" ]]; then
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echo "OptiX_INSTALL_DIR env is empty"
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exit 1
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fi
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if [[ -z "$(id -u $USER)" ]]; then
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echo "Cannot deduce id of the USER"
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exit 1
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fi
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- id: set-envs
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run: |
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echo "optix-install-dir=$OptiX_INSTALL_DIR" | tee -a $GITHUB_OUTPUT
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echo "user-id=$(id -u $USER)" | tee -a $GITHUB_OUTPUT

‎.github/workflows/test-subworkflow.yml‎

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name: test-subworkflow
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on:
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workflow_call:
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inputs:
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test-command:
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required: true
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type: string
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docker-image:
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required: true
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type: string
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permissions:
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contents: read
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jobs:
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test:
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defaults:
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run:
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shell: bash
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runs-on: self-hosted
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container:
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image: ${{ inputs.docker-image }}
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env:
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NVIDIA_DRIVER_CAPABILITIES: all
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options:
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--rm
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--gpus all
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steps:
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- name: test
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run: ${{ inputs.test-command }}

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