実機向け制御パケットの刷新 #954
Workflow file for this run
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| name: build test | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| merge_group: | |
| jobs: | |
| job: | |
| name: BuildAndRun | |
| runs-on: >- | |
| ${{ | |
| (contains(github.event.pull_request.labels.*.name, 'SelfHostedRunner')) | |
| && fromJSON('[ "self-hosted"]') | |
| || fromJSON('[ "ubuntu-latest" ]') | |
| }} | |
| timeout-minutes: 30 | |
| container: ghcr.io/ibis-ssl/crane:base | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| rosdistro: [humble] | |
| steps: | |
| - name: suppress warnings | |
| run: | | |
| git config --global --add safe.directory '*' | |
| - name: Set PR fetch depth | |
| run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" | |
| - uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| fetch-depth: ${{ env.PR_FETCH_DEPTH }} | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Setup Problem Matchers for GCC | |
| run: echo "::add-matcher::.github/matchers/gcc.json" | |
| - name: Setup Problem Matchers for clang-format | |
| if: steps.get-modified-packages.outputs.modified-packages != '' | |
| run: echo "::add-matcher::.github/matchers/clang-format.json" | |
| - name: Get modified packages | |
| id: get-modified-packages | |
| uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 | |
| - name: Set git config | |
| uses: autowarefoundation/autoware-github-actions/set-git-config@v1 | |
| with: | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Clone dependency packages | |
| run: | | |
| mkdir -p dependency_ws | |
| vcs import dependency_ws < dependency_${{ matrix.rosdistro }}.repos | |
| shell: bash | |
| - name: Run rosdep install | |
| run: | | |
| package_paths=$(colcon list -p --packages-above-and-dependencies ${{ steps.get-modified-packages.outputs.modified-packages }} --base-paths . dependency_ws) | |
| sudo apt-get -yqq update | |
| rosdep update | |
| DEBIAN_FRONTEND=noninteractive rosdep install -yqq --from-paths ${package_paths} --ignore-src --rosdistro ${{ matrix.rosdistro }} | |
| shell: bash | |
| - name: Set up colcon-mixin | |
| run: | | |
| colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml || true | |
| colcon mixin update default | |
| shell: bash | |
| - name: Build | |
| run: | | |
| . /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| colcon build --event-handlers console_cohesion+ \ | |
| --packages-above-and-dependencies ${{ steps.get-modified-packages.outputs.modified-packages }} \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Release \ | |
| --mixin coverage-gcc coverage-pytest compile-commands | |
| shell: bash | |
| - name: Cache build artifacts | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| ./build | |
| ./install | |
| key: build-${{ matrix.rosdistro }}-${{ runner.os }}-${{ runner.arch }}-${{ github.sha }} | |
| - name: Test | |
| id: test | |
| if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} | |
| uses: autowarefoundation/autoware-github-actions/colcon-test@v1 | |
| with: | |
| rosdistro: ${{ matrix.rosdistro }} | |
| target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} | |
| build-depends-repos: dependency_${{ matrix.rosdistro }}.repos |