[SW-893] odometry velocities reported in the wrong frame #887
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| name: CI | |
| on: | |
| pull_request: | |
| push: | |
| branches: | |
| - main | |
| workflow_call: | |
| secrets: | |
| CODECOV_TOKEN: | |
| required: true | |
| permissions: | |
| contents: write | |
| env: | |
| # Use docker.io for Docker Hub if empty | |
| REGISTRY: ghcr.io | |
| # github.repository as <account>/<repo> | |
| IMAGE_NAME: bdaiinstitute/spot_ros2_jammy_humble | |
| defaults: | |
| run: | |
| shell: bash | |
| concurrency: | |
| group: ${{ github.repository }}-${{ github.workflow }}-${{ github.ref }}-${{ github.ref == 'refs/heads/main' && github.sha || ''}} | |
| cancel-in-progress: true | |
| jobs: | |
| lint: | |
| name: Lint spot_ros2 packages | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| config: | |
| - { python: "3.8" } | |
| - { python: "3.9" } | |
| - { python: "3.10" } | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.config.python }} | |
| - name: Lint sources | |
| uses: pre-commit/[email protected] | |
| prepare_container: | |
| name: Prepare Humble container for tests | |
| runs-on: ubuntu-latest | |
| needs: lint | |
| permissions: | |
| contents: read | |
| packages: write | |
| # This is used to complete the identity challenge | |
| # with sigstore/fulcio when running outside of PRs. | |
| id-token: write | |
| outputs: | |
| image: ${{ fromJSON(steps.meta.outputs.json).tags[0] }} | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: Setup Docker buildx # to workaround: https://github.com/docker/build-push-action/issues/461 | |
| uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf | |
| - name: Log into registry ${{ env.REGISTRY }} | |
| uses: docker/login-action@v3 # https://github.com/docker/login-action | |
| with: | |
| registry: ${{ env.REGISTRY }} | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Extract metadata (tags, labels) for Docker | |
| uses: docker/metadata-action@v5 # https://github.com/docker/metadata-action | |
| with: | |
| images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }} | |
| id: meta | |
| - name: Build and push Docker image (may be cached) | |
| uses: docker/build-push-action@v5 # https://github.com/docker/build-push-action | |
| with: | |
| context: . | |
| file: .devcontainer/Dockerfile | |
| push: true | |
| tags: ${{ steps.meta.outputs.tags }} | |
| labels: ${{ steps.meta.outputs.labels }} | |
| cache-from: type=gha | |
| cache-to: type=gha,mode=max | |
| build_and_test_package_and_docs: | |
| name: Build and test spot_ros2 packages | |
| runs-on: ubuntu-latest | |
| needs: prepare_container | |
| container: | |
| image: ${{ needs.prepare_container.outputs.image }} | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - run: git config --global --add safe.directory $GITHUB_WORKSPACE | |
| - name: Build packages | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --symlink-install --packages-up-to spot_driver spot_description spot_msgs spot_examples spot_ros2_control --cmake-args -DCMAKE_CXX_FLAGS="--coverage" | |
| working-directory: ${{ github.workspace }}/../../ | |
| - name: Test non-spot-driver packages | |
| run: | | |
| source install/setup.bash | |
| colcon test --event-handlers console_direct+ --packages-select spot_description spot_examples spot_msgs | |
| working-directory: ${{ github.workspace }}/../../ | |
| # Per https://github.com/colcon/colcon-ros/issues/151, `pytest-args` cannot be used in an ament_cmake package, so in order to pass arguments to pytest we have to run pytest directly | |
| - name: Test python part of spot-driver package | |
| run: | | |
| source install/setup.bash | |
| pytest -n auto --cov-report xml --cov-config=$GITHUB_WORKSPACE/.coveragerc --cov-report term --cov=spot_driver $GITHUB_WORKSPACE/spot_driver/test/pytests/ | |
| working-directory: ${{ github.workspace }}/../../ | |
| - name: Test c++ part of spot-driver packages | |
| run: | | |
| source install/setup.bash | |
| colcon test --event-handlers console_direct+ --packages-select spot_driver | |
| working-directory: ${{ github.workspace }}/../../ | |
| - name: Generate coverage report | |
| run: lcov -c -d build/spot_driver/ -o coverage_spot_driver.info --include "*/spot_driver/*" --exclude "*/test/*" | |
| working-directory: ${{ github.workspace }}/../../ | |
| - name: Upload python coverage to Coveralls | |
| uses: coverallsapp/github-action@v2 | |
| with: | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| fail-on-error: true | |
| flag-name: unittests-python | |
| parallel: true | |
| debug: true | |
| files: $(find ../../ -name "coverage.xml" -type f) | |
| - name: Upload cpp coverage to Coveralls | |
| uses: coverallsapp/github-action@v2 | |
| with: | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| fail-on-error: true | |
| flag-name: unittests-cpp | |
| debug: true | |
| files: ../../coverage_spot_driver.info | |
| format: lcov | |
| - name: Aggregate coverage | |
| uses: coverallsapp/github-action@v2 | |
| with: | |
| parallel-finished: true | |
| carryforward: "unittests-python, unittests-cpp" | |
| - if: always() | |
| name: Report on test results | |
| run: colcon test-result --all --verbose | |
| working-directory: ${{ github.workspace }}/../../ | |
| - name: Build packages documentation | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| pip install -r docs/requirements.txt | |
| # go to documentation folder and build the .rst files | |
| cd docs | |
| # we don't use the --implicit-namespaces flag | |
| sphinx-apidoc -f -o source/ ../ ../*setup* ../examples ../*launch.py ../*command_spot_driver.py | |
| cd .. | |
| sphinx-build docs _build -v |