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ci.yaml
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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: CI
on:
schedule:
# 5 PM UTC every Sunday
- cron: '0 17 * * 6'
workflow_dispatch:
pull_request:
branches:
- main
push:
branches:
- main
jobs:
default:
strategy:
matrix:
env:
- IMAGE: rolling-source
env:
DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
UPSTREAM_WORKSPACE: .github/upstream.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
TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
CCACHE_DIR: ${{ github.workspace }}/.ccache
BASEDIR: ${{ github.workspace }}/.work
CACHE_PREFIX: ${{ matrix.env.IMAGE }}
name: ${{ matrix.env.IMAGE }}
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
fetch-depth: 0
- name: cache upstream_ws
uses: pat-s/[email protected]
with:
path: ${{ env.BASEDIR }}/upstream_ws
key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('.github/upstream.repos') }}-${{ github.run_id }}
restore-keys: |
upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('.github/upstream.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: pat-s/[email protected]
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') }}
- name: cache ccache
uses: pat-s/[email protected]
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 }}
- 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