Pilz Sequence Motion MoveGroupSequence example #2434
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| name: Website | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| branches: | |
| - main | |
| - humble | |
| permissions: | |
| contents: read | |
| pages: write | |
| id-token: write | |
| jobs: | |
| htmlproofer: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: moveit/moveit2:rolling-source | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install Python dependencies | |
| run: | | |
| sudo apt-get update -y | |
| sudo apt-get install -y python3-pip | |
| pip3 install --upgrade --requirement requirements.txt | |
| - name: Install doxygen and graphviz | |
| run: sudo apt-get install -y doxygen graphviz | |
| - uses: ruby/setup-ruby@v1 | |
| with: | |
| ruby-version: '3' | |
| - name: Run htmlproofer.sh | |
| shell: bash | |
| run: | | |
| source /opt/ros/rolling/setup.bash | |
| source /root/ws_moveit/install/setup.bash | |
| ./htmlproofer.sh | |
| upload_site_artifacts: | |
| strategy: | |
| matrix: | |
| include: | |
| - container: 'moveit/moveit2:rolling-source' | |
| branch: 'main' | |
| rosdistro: 'rolling' | |
| - container: 'moveit/moveit2:humble-source' | |
| branch: 'humble' | |
| rosdistro: 'humble' | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ${{ matrix.container }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install Python dependencies | |
| run: | | |
| sudo apt-get update -y | |
| sudo apt-get install -y python3-pip | |
| pip3 install --upgrade --requirement requirements.txt | |
| - name: Install doxygen and graphviz | |
| run: sudo apt-get install -y doxygen graphviz | |
| - name: Build Sphinx Artifacts | |
| shell: bash | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.bash | |
| source /root/ws_moveit/install/setup.bash | |
| make generate_api_artifacts BRANCH=${{ matrix.branch }} | |
| - name: Compress Artifact | |
| run: tar cvzf artifact.tar.gz --directory=build/html . | |
| - name: Upload HTML Artifact | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: '${{ matrix.branch }}_html_artifacts' | |
| path: artifact.tar.gz | |
| collate_site_artifacts: | |
| runs-on: ubuntu-latest | |
| needs: upload_site_artifacts | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| cache: 'pip' | |
| - name: Install Python dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install --upgrade --requirement requirements.txt | |
| - name: Install doxygen and graphviz | |
| run: sudo apt-get install -y doxygen graphviz | |
| - uses: ruby/setup-ruby@v1 | |
| with: | |
| ruby-version: '3' | |
| # TODO (peterdavidfagan): don't hardcode branches for downloads | |
| - name: Download Rolling Artifacts | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: main_html_artifacts | |
| path: . | |
| - name: Decompress Rolling Artifact | |
| run: | | |
| mkdir -p build/html/main | |
| tar -xf artifact.tar.gz --directory=build/html/main | |
| rm artifact.tar.gz | |
| - name: Download Humble Artifacts | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: humble_html_artifacts | |
| path: . | |
| - name: Decompress Humble Artifact | |
| run: | | |
| mkdir -p build/html/humble | |
| tar -xf artifact.tar.gz --directory=build/html/humble | |
| rm artifact.tar.gz | |
| - name: Create CNAME file | |
| run: echo "moveit.picknik.ai" > build/html/CNAME | |
| # TODO(henningkayser): fix hack for using python api artifact in multiversion | |
| - name: Build multiversion | |
| run: | | |
| cp -r build/html/main/doc/api/python_api/ . # backup artifact html | |
| make multiversion | |
| cp -rf python_api/ build/html/main/doc/api/ # restore artifact html | |
| - name: Upload pages artifact | |
| uses: actions/upload-pages-artifact@v3 | |
| if: github.repository_owner == 'moveit' | |
| with: | |
| path: build/html | |
| deploy: | |
| if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/main' | |
| runs-on: ubuntu-latest | |
| needs: collate_site_artifacts | |
| environment: | |
| name: github-pages | |
| url: ${{ steps.deployment.outputs.page_url }} | |
| steps: | |
| - name: Deploy to GitHub Pages | |
| id: deployment | |
| uses: actions/deploy-pages@v4 |