Add speedup of robot motions #457
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| name: CI | |
| on: | |
| pull_request: | |
| branches: [projects/piloting] | |
| concurrency: | |
| group: ${{ github.head_ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| linting: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Set up Python 3.8 | |
| uses: actions/setup-python@v1 | |
| with: | |
| python-version: 3.8 | |
| - name: Linting | |
| run: | | |
| pip install pre-commit | |
| pre-commit run --all-files | |
| deps: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v2 | |
| with: | |
| submodules: "recursive" | |
| - name: Get changed base dependencies | |
| id: changed-files | |
| uses: tj-actions/[email protected] | |
| with: | |
| files: | | |
| Dockerfile | |
| moma_core.repos | |
| moma_piloting.repos | |
| install_dependencies.sh | |
| **/requirements.txt | |
| .github/workflows/** | |
| - name: Early exit - Image up to date | |
| if: steps.changed-files.outputs.any_changed == 'false' | |
| run: echo "No image to be built" | |
| - name: Set up Docker Buildx | |
| if: steps.changed-files.outputs.any_changed == 'true' | |
| uses: docker/setup-buildx-action@v1 | |
| - name: Login to DockerHub | |
| if: steps.changed-files.outputs.any_changed == 'true' | |
| uses: docker/login-action@v1 | |
| with: | |
| username: ${{ secrets.PILOTING_DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.PILOTING_DOCKERHUB_TOKEN }} | |
| - name: Get deps and push | |
| if: steps.changed-files.outputs.any_changed == 'true' | |
| uses: docker/build-push-action@v2 | |
| with: | |
| context: . | |
| builder: ${{ steps.buildx.outputs.name }} | |
| cache-from: type=registry,ref=${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:buildcache | |
| cache-to: type=registry,ref=${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:buildcache,mode=max | |
| push: true | |
| target: deps | |
| tags: ${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:${{github.event.number}} | |
| build: | |
| needs: deps | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v2 | |
| with: | |
| submodules: "recursive" | |
| lfs: true | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v1 | |
| - name: Login to DockerHub | |
| uses: docker/login-action@v1 | |
| with: | |
| username: ${{ secrets.PILOTING_DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.PILOTING_DOCKERHUB_TOKEN }} | |
| - name: Build and push | |
| uses: docker/build-push-action@v2 | |
| with: | |
| context: . | |
| builder: ${{ steps.buildx.outputs.name }} | |
| cache-from: type=registry,ref=${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:buildcache | |
| cache-to: type=registry,ref=${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:buildcache,mode=max | |
| push: true | |
| target: build | |
| tags: ${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-dev:${{github.event.number}} | |
| test: | |
| needs: build | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Run docker test | |
| run: | | |
| export DISPLAY=:99 | |
| sudo Xvfb -ac :99 -screen 0 1280x1024x24 > /dev/null 2>&1 & | |
| docker run -t --network host -e DISPLAY -v /tmp/.X11-unix ${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-dev:${{github.event.number}} /bin/bash -c "rostest piloting_demo mission.test || (cat /tmp/piloting_mission.log && cat /tmp/piloting_mission.err && false)" | |
| # test: | |
| # needs: build | |
| # runs-on: ubuntu-latest | |
| # container: | |
| # image: piloting/noetic-dev:latest | |
| # options: --user root | |
| # steps: | |
| # - run: /ros_entrypoint.sh rostest piloting_demo mission.test | |
| # test: | |
| # needs: build | |
| # runs-on: ubuntu-latest | |
| # | |
| # steps: | |
| # - name: Run tests | |
| # uses: docker://piloting/noetic-dev:latest | |
| # with: | |
| # args: rostest piloting_demo mission.test |