build_and_test.yaml

# 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