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ci: cover kilted and lyrical, and add a real Resolute rolling job #753

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ci: cover kilted and lyrical, and add a real Resolute rolling job #753

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25 changes: 22 additions & 3 deletions .github/workflows/ci.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,22 +34,35 @@ jobs:
-e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions,fast_unwind_on_malloc=0"
-e ASAN_OPTIONS="new_delete_type_mismatch=0,alloc_dealloc_mismatch=0"
TARGET_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g"
- ROS_DISTRO: kilted
ROS_REPO: main
# moveit_core has no Resolute deb yet, so these two cannot pass until
# moveit2 is released for Resolute. Keep them non-blocking until then;
# they are the only jobs here that exercise Resolute at all.
- ROS_DISTRO: lyrical
ROS_REPO: main
OS_CODE_NAME: resolute
NONBLOCKING: true
- ROS_DISTRO: rolling
ROS_REPO: testing
OS_CODE_NAME: resolute
NONBLOCKING: true

env:
CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
UNDERLAY: ${{ endsWith(matrix.env.IMAGE, '-source') && '/root/ws_moveit/install' || ''}}
TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
CCACHE_DIR: ${{ github.workspace }}/.ccache
BASEDIR: ${{ github.workspace }}/.work
CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
CACHE_PREFIX: "${{ matrix.env.IMAGE || format('{0}-{1}', matrix.env.ROS_DISTRO, matrix.env.ROS_REPO) }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
# perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
CXX: ${{ matrix.env.CLANG_TIDY && 'clang++ -std=c++17' }}

name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
name: "${{ matrix.env.IMAGE || format('{0}-{1}', matrix.env.ROS_DISTRO, matrix.env.ROS_REPO) }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
runs-on: ubuntu-latest
continue-on-error: ${{ matrix.env.NONBLOCKING || false }}
steps:
- uses: actions/checkout@v6
with:
Expand All @@ -66,6 +79,12 @@ jobs:
env:
GHA_CACHE_SAVE: always

# Jobs building on a bare OS image (OS_CODE_NAME set) must leave
# DOCKER_IMAGE unset so industrial_ci builds the base itself.
- name: Set prebuilt DOCKER_IMAGE
if: ${{ ! matrix.env.OS_CODE_NAME }}
run: echo "DOCKER_IMAGE=moveit/moveit2:${{ matrix.env.IMAGE }}" >> "$GITHUB_ENV"

- id: ici
name: Run industrial_ci
uses: rhaschke/industrial_ci@master
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