[ROS 2]: Add Python bindings #113
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| # 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: Build and Test | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| branches: | |
| - ros2 | |
| jobs: | |
| industrial_ci: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - IMAGE: humble-source | |
| - IMAGE: rolling-source | |
| CLANG_TIDY: true | |
| env: | |
| DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }} | |
| UPSTREAM_WORKSPACE: moveit_visual_tools.repos | |
| AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src | |
| AFTER_SETUP_UPSTREAM_WORKSPACE_EMBED: set +u && source ~/ws_moveit/install/setup.bash && set - u | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| BASEDIR: ${{ github.workspace }}/.work | |
| CACHE_PREFIX: ${{ matrix.env.IMAGE }} | |
| CLANG_TIDY_BASE_REF: ${{ github.base_ref || github.ref }} | |
| name: ${{ matrix.env.IMAGE }}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }} | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - name: cache upstream_ws | |
| uses: actions/cache@v4 | |
| with: | |
| save-always: true | |
| path: ${{ env.BASEDIR }}/upstream_ws | |
| key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit_visual_tools.repos') }}-${{ github.run_id }} | |
| restore-keys: | | |
| upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit_visual_tools.repos') }} | |
| # The target directory cache doesn't include the source directory because | |
| # that comes from the checkout. See "prepare target_ws for cache" task below | |
| - name: cache target_ws | |
| uses: rhaschke/cache@main | |
| with: | |
| path: ${{ env.BASEDIR }}/target_ws | |
| key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }} | |
| restore-keys: | | |
| target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }} | |
| env: | |
| GHA_CACHE_SAVE: always | |
| - name: cache ccache | |
| uses: rhaschke/cache@main | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} | |
| restore-keys: | | |
| ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }} | |
| ccache-${{ env.CACHE_PREFIX }} | |
| env: | |
| GHA_CACHE_SAVE: always | |
| - name: industrial_ci | |
| uses: ros-industrial/industrial_ci@master | |
| env: ${{ matrix.env }} | |
| - name: prepare target_ws for cache | |
| run: | | |
| du -sh ${{ env.BASEDIR }}/target_ws | |
| sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete | |
| sudo rm -rf ${{ env.BASEDIR }}/target_ws/src | |
| du -sh ${{ env.BASEDIR }}/target_ws |