Merge pull request #199 from cwruRobotics/float-comp-fixes #1951
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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: Continuous Integration | |
| on: # this determines when this workflow is run | |
| push: | |
| # branches: [ master, melodic-devel ] # when master or melodic-devel branch is pushed to | |
| # pull_request: | |
| # branches: [ master ] # when there is a pull request against master | |
| # schedule: # uncomment to run periodically | |
| # - cron: '0 4 * * *' # every day at 4 AM (UTC) | |
| workflow_dispatch: # allow manually starting this workflow | |
| jobs: | |
| industrial_ci: | |
| name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }}) | |
| runs-on: ubuntu-latest | |
| strategy: | |
| # fail-fast: false # uncomment if failing jobs should not cancel the others immediately | |
| matrix: # matrix is the product of entries | |
| ROS_DISTRO: [iron] | |
| ROS_REPO: [main] | |
| # exclude: # specific configuration can be excludes | |
| # - {ROS_DISTRO: melodic, ROS_REPO: testing} | |
| # include: # add additional configurations | |
| # - {ROS_DISTRO: kinetic, ROS_REPO: testing} | |
| env: | |
| CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci) | |
| steps: | |
| - uses: actions/checkout@v4 # clone target repository | |
| - uses: actions/cache@v4 # fetch/store the directory used by ccache before/after the ci run | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| # This configuration will always create a new ccache cache starting off from the previous one (if any). | |
| # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO | |
| # and might need some fine-tuning to match the use case | |
| key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}} | |
| restore-keys: | | |
| ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}- | |
| - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci | |
| env: # either pass all entries explicitly | |
| # Added back so testing without Dockerfile can be done | |
| ROS_DISTRO: ${{ matrix.ROS_DISTRO }} | |
| DOCKER_IMAGE: ghcr.io/cwrurobotics/rov-24:iron | |
| # Done to avoid permssion errors in the ros-industrial ci. | |
| DOCKER_RUN_OPTS: -u root | |
| ROS_REPO: ${{ matrix.ROS_REPO }} | |
| # Install missing libxcb-cursor0 xvfb for PyQt unit testing | |
| # https://pytest-qt.readthedocs.io/en/latest/troubleshooting.html | |
| ADDITIONAL_DEBS: 'libxcb-cursor0 xvfb' | |
| # Crazy one liner for install python dependencies | |
| AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'pip install --upgrade pip && pip install /root/target_ws/src/rov-24 --user && rm -r /root/target_ws/src/rov-24/build' | |
| # Used for running our CI but don't necessarily want to run others failing unit tests (ej. ament_pep257) | |
| UPSTREAM_WORKSPACE: 'github:InvincibleRMC/ament_pep257#main' |