Merge branch 'develop' into update-consai_ros2

.github/workflows/build_test.yaml

@@ -15,7 +15,7 @@ jobs:
           || fromJSON('[ "ubuntu-latest" ]')
       }}
     timeout-minutes: 30
-    container: ghcr.io/ibis-ssl/crane:prebuilt
+    container: ghcr.io/ibis-ssl/crane:base
     env:
       DEBIAN_FRONTEND: noninteractive
     strategy:
@@ -27,75 +27,73 @@ jobs:
         run: |
           git config --global --add safe.directory '*'
 
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
       - uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
           token: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Copy repository
-        run: |
-          mkdir -p ~/ibis_ws/src/crane
-          cp -rf . ~/ibis_ws/src/crane
-        shell: bash
-
-      - name: Install dependencies
-        run: |
-          cd ~/ibis_ws
-          vcs import src < src/crane/dependency_${{ matrix.rosdistro }}.repos
-
-      - name: Resolve rosdep
-        run: |
-          cd ~/ibis_ws
-          apt-get update
-          rosdep update
-          rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }} --dependency-types=build --dependency-types=buildtool --dependency-types=test
-        shell: bash
-
       - name: Setup Problem Matchers for GCC
-        run: echo "::add-matcher::${{ github.workspace }}/.github/matchers/gcc.json"
+        run: echo "::add-matcher::.github/matchers/gcc.json"
 
-      - name: Restore build artifacts
-        uses: actions/cache/restore@v4
-        with:
-          path: |
-            /root/ibis_ws/build
-            /root/ibis_ws/install
-          key: build-humble-${{ github.event.pull_request.number }}
+      - name: Setup Problem Matchers for clang-format
+        if: steps.get-modified-packages.outputs.modified-packages != ''
+        run: echo "::add-matcher::.github/matchers/clang-format.json"
 
       - name: Get modified packages
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
-          base-branch: develop
+          token: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Build packages
+      - name: Clone dependency packages
         run: |
-          source /opt/ros/${{ matrix.rosdistro }}/setup.bash
-          cd ~/ibis_ws
-          colcon build --symlink-install --packages-above-and-dependencies ${{ steps.get-modified-packages.outputs.modified-packages }} --cmake-args '-DCMAKE_BUILD_TYPE=Release'
+          mkdir -p dependency_ws
+          vcs import dependency_ws < dependency_${{ matrix.rosdistro }}.repos
         shell: bash
 
-      - name: Save build artifacts
-        uses: actions/cache/save@v4
-        with:
-          path: |
-            /root/ibis_ws/build
-            /root/ibis_ws/install
-          key: build-humble-${{ github.event.pull_request.number }}-${{ github.sha }}
-
-      - name: Colcon test
+      - name: Run rosdep install
         run: |
-          source /opt/ros/${{ matrix.rosdistro }}/setup.bash
-          cd ~/ibis_ws
-          colcon test
+          package_paths=$(colcon list -p --packages-above-and-dependencies ${{ steps.get-modified-packages.outputs.modified-packages }} --base-paths . dependency_ws)
+          sudo apt-get -yqq update
+          rosdep update
+          DEBIAN_FRONTEND=noninteractive rosdep install -yqq --from-paths ${package_paths} --ignore-src --rosdistro ${{ matrix.rosdistro }}
         shell: bash
 
-      - name: Setup Problem Matchers for clang-format
-        run: echo "::add-matcher::${{ github.workspace }}/.github/matchers/clang-format.json"
+      - name: Set up colcon-mixin
+        run: |
+          colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml || true
+          colcon mixin update default
+        shell: bash
 
-      - name: Show test result
+      - name: Build
         run: |
-          source /opt/ros/${{ matrix.rosdistro }}/setup.bash
-          cd ~/ibis_ws
-          colcon test-result --verbose
+          . /opt/ros/${{ matrix.rosdistro }}/setup.sh
+          colcon build --event-handlers console_cohesion+ \
+            --packages-above-and-dependencies ${{ steps.get-modified-packages.outputs.modified-packages }} \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release \
+            --mixin coverage-gcc coverage-pytest compile-commands
         shell: bash
+
+      - name: Cache build artifacts
+        uses: actions/cache@v4
+        with:
+          path: |
+            ./build
+            ./install
+          key: build-${{ matrix.rosdistro }}-${{ runner.os }}-${{ runner.arch }}-${{ github.sha }}
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: dependency_${{ matrix.rosdistro }}.repos

.github/workflows/custom_dict.json

@@ -79,6 +79,9 @@
     "ZJUNlict",
     "luhbots",
     "nAMeC",
+    "TRAPS",
+    "Shinobi",
+    "reRo",
     "roboticserlangen",
     "tigersmannheim",
     "simulatorcli",
@@ -105,6 +108,7 @@
     "MPPI",
     "Kwargs",
     "voicevox",
-    "FREEKICK"
+    "FREEKICK",
+    "rcst"
   ]
 }

.github/workflows/docker_build.yaml

@@ -5,7 +5,6 @@ on:
     branches:
       - develop
   workflow_dispatch:
-
 jobs:
   build_base:
     name: build base image
@@ -16,6 +15,9 @@ jobs:
           fetch-depth: 0
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Set up buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:
@@ -25,12 +27,14 @@ jobs:
 
       - name: Build image
         if: steps.check_image.outputs.GITHUB_OUTPUT == ${{ steps.extract_dependencies.outputs.rosdep_checksum }}
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           file: docker/base/Dockerfile
           push: true
           tags: ghcr.io/${{ github.repository }}:base
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
 
   build_ccache:
     name: build ccache image
@@ -41,6 +45,9 @@ jobs:
           fetch-depth: 0
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Set up buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:
@@ -50,12 +57,14 @@ jobs:
 
       - name: Build image
         if: steps.check_image.outputs.GITHUB_OUTPUT == ${{ steps.extract_dependencies.outputs.rosdep_checksum }}
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           file: docker/ccache/Dockerfile
           push: true
           tags: ghcr.io/${{ github.repository }}:ccache
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
 
   build_prebuilt:
     name: build prebuilt image
@@ -66,6 +75,9 @@ jobs:
           fetch-depth: 0
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Set up buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v3
         with:
@@ -75,9 +87,11 @@ jobs:
 
       - name: Build image
         if: steps.check_image.outputs.GITHUB_OUTPUT == ${{ steps.extract_dependencies.outputs.rosdep_checksum }}
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
         with:
           context: .
           file: docker/prebuilt/Dockerfile
           push: true
           tags: ghcr.io/${{ github.repository }}:prebuilt
+          cache-from: type=gha
+          cache-to: type=gha,mode=max