From ee3f32018863afcb3186485e2f5a940eb3bf9237 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Fri, 29 Nov 2024 15:59:45 -0500 Subject: [PATCH] Update CI rules for Jazzy (#3141) --- .github/workflows/ci.yaml | 16 +--- .github/workflows/docker.yaml | 8 +- .github/workflows/format.yaml | 2 +- .github/workflows/sonar.yaml | 122 ------------------------- .github/workflows/tutorial_docker.yaml | 4 +- 5 files changed, 12 insertions(+), 140 deletions(-) delete mode 100644 .github/workflows/sonar.yaml diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 1e09cdf939..434adc400c 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -9,7 +9,7 @@ on: merge_group: push: branches: - - main + - jazzy jobs: default: @@ -17,19 +17,13 @@ jobs: fail-fast: false matrix: env: - - IMAGE: rolling-ci - CCOV: true - ROS_DISTRO: rolling - - IMAGE: rolling-ci - ROS_DISTRO: rolling - IKFAST_TEST: true - CLANG_TIDY: pedantic - - IMAGE: humble-ci - ROS_DISTRO: humble - IMAGE: jazzy-ci + CCOV: true ROS_DISTRO: jazzy - - IMAGE: jazzy-ci-testing + - IMAGE: jazzy-ci ROS_DISTRO: jazzy + IKFAST_TEST: true + CLANG_TIDY: pedantic env: # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option # https://stackoverflow.com/a/41673702 diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml index 4bc1a4aa64..b576450833 100644 --- a/.github/workflows/docker.yaml +++ b/.github/workflows/docker.yaml @@ -7,7 +7,7 @@ on: workflow_dispatch: push: branches: - - main + - jazzy pull_request: paths: - .docker/** @@ -19,7 +19,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling, jazzy] + ROS_DISTRO: [jazzy] runs-on: ubuntu-latest permissions: packages: write @@ -72,7 +72,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling, jazzy] + ROS_DISTRO: [jazzy] runs-on: ubuntu-latest permissions: packages: write @@ -128,7 +128,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling, jazzy] + ROS_DISTRO: [jazzy] runs-on: ubuntu-latest permissions: packages: write diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml index 1bcc4779c8..9467b5c684 100644 --- a/.github/workflows/format.yaml +++ b/.github/workflows/format.yaml @@ -9,7 +9,7 @@ on: merge_group: push: branches: - - main + - jazzy jobs: pre-commit: diff --git a/.github/workflows/sonar.yaml b/.github/workflows/sonar.yaml deleted file mode 100644 index 777ed2c33e..0000000000 --- a/.github/workflows/sonar.yaml +++ /dev/null @@ -1,122 +0,0 @@ -# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). -# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) - -name: SonarScan - -on: - push: - -jobs: - default: - env: - ROS_DISTRO: rolling - CXXFLAGS: >- - -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls - CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file - DOCKER_IMAGE: moveit/moveit2:rolling-ci - UPSTREAM_WORKSPACE: > - moveit2.repos - $(f="moveit2_$(sed 's/-.*$//' <<< "rolling-ci").repos"; test -r $f && echo $f) - # Pull any updates to the upstream workspace (after restoring it from cache) - AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src - AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src - # Clear the ccache stats before and log the stats after the build - AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G - BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z - AFTER_BUILD_TARGET_WORKSPACE: ccache -s - TARGET_CMAKE_ARGS: > - --no-warn-unused-cli - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON - -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld - -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld - -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld - -DCMAKE_BUILD_TYPE='Debug' - -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS --coverage -O2 -fno-omit-frame-pointer" - UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''" - DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra" - CCACHE_DIR: ${{ github.workspace }}/.ccache - BASEDIR: ${{ github.workspace }}/.work - ADDITIONAL_DEBS: lld - - name: rolling-ci-ccov-sonar - runs-on: ubuntu-latest - steps: - - name: "Free up disk space" - if: matrix.env.CCOV - run: | - sudo apt-get -qq purge "ghc*" - sudo apt-get clean - # cleanup docker images not used by us - docker system prune -af - # shift ccache folder to /mnt on a separate disk - sudo mkdir /mnt/ccache - mkdir ${{ env.CCACHE_DIR }} - sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache - # free up a lot of stuff from /usr/local - sudo rm -rf /usr/local - df -h - - uses: actions/checkout@v4 -# Testspace disabled temporarily: https://github.com/moveit/moveit2/issues/2852 -# - uses: testspace-com/setup-testspace@v1 -# if: github.repository == 'moveit/moveit2' -# with: -# domain: ros-planning - - name: Get latest release date for rosdistro - id: rosdistro_release_date - uses: JafarAbdi/latest-rosdistro-release-date-action@main - with: - rosdistro: ${{ env.ROS_DISTRO }} - - name: Get latest timestamp repos file has been edited - id: repos_edit_timestamp - uses: vatanaksoytezer/latest-file-edit-timestamp-action@main - with: - file: moveit2.repos - - name: Cache upstream workspace - uses: rhaschke/cache@main - with: - path: ${{ env.BASEDIR }}/upstream_ws - key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} - restore-keys: ${{ env.CACHE_PREFIX }} - env: - GHA_CACHE_SAVE: always - CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-rolling-ci-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }} - - name: Cache ccache - uses: rhaschke/cache@main - with: - path: ${{ env.CCACHE_DIR }} - key: ccache-rolling-ci-ccov-${{ github.sha }}-${{ github.run_id }} - restore-keys: | - ccache-rolling-ci-ccov-${{ github.sha }} - ccache-rolling-ci-ccov - env: - GHA_CACHE_SAVE: always - - name: Configure ccache - run: | - mkdir -p ${{ env.CCACHE_DIR }} - cp .github/ccache.conf ${{ env.CCACHE_DIR }}/ccache.conf - - id: ici - name: Run industrial_ci - uses: ros-industrial/industrial_ci@master - - name: Generate codecov report - uses: rhaschke/lcov-action@main - if: steps.ici.outputs.target_test_results == '0' - with: - docker: $DOCKER_IMAGE - workdir: ${{ env.BASEDIR }}/target_ws - lcov_capture_args: --ignore-errors=gcov,gcov,mismatch,mismatch,negative,negative - ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"' - - name: Install ccache - run: sudo apt install ccache build-essential - - name: Print coverage.info - if: steps.ici.outputs.target_test_results == '0' - run: cat ${{ github.workspace }}/.work/target_ws/coverage.info - - name: Install sonar-scanner - if: steps.ici.outputs.target_test_results == '0' - uses: SonarSource/sonarcloud-github-c-cpp@v3 - - name: Run sonar-scanner - if: steps.ici.outputs.target_test_results == '0' - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} - run: sonar-scanner -X --define project.settings=.work/target_ws/src/moveit2/sonar-project.properties - working-directory: ${{ github.workspace }} diff --git a/.github/workflows/tutorial_docker.yaml b/.github/workflows/tutorial_docker.yaml index 72c2b80252..408fa3e2d8 100644 --- a/.github/workflows/tutorial_docker.yaml +++ b/.github/workflows/tutorial_docker.yaml @@ -9,14 +9,14 @@ on: merge_group: push: branches: - - main + - jazzy jobs: tutorial-source: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling, jazzy] + ROS_DISTRO: [jazzy] runs-on: ubuntu-latest permissions: packages: write