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 |