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Date: Tue, 12 May 2020 15:24:13 -0700 Subject: [PATCH 03/61] Add CI readme --- doc/continuous_integration/README.md | 42 ++++++++++++++++++++++++++++ 1 file changed, 42 insertions(+) create mode 100644 doc/continuous_integration/README.md diff --git a/doc/continuous_integration/README.md b/doc/continuous_integration/README.md new file mode 100644 index 0000000000..4169ae621c --- /dev/null +++ b/doc/continuous_integration/README.md @@ -0,0 +1,42 @@ +# Continuous Integration Documentation +Documentation on the existing CI for the project is resides here. + +## Overview +The existing CI is composed of multiple integration services that together help provide maintainers a fast and scalable testing environment. To help detect upstream breakages quickly as well, the existing CI allows for changes to be evaluated using the latest development dependencies. In light of the large dependency footprint a high-level ROS2 navigation stack necessitates, the use of each integration service is optimized to maximize caching of environmental setup and increase workflow throughput. As these optimizations add complexity to the CI configuration, this documentation provides further explanations and resigning behind each configuration. + +![pipeline](pipeline.png) + +The figure above is an high level diagram on how the integration services described below are composed. + +## Integrations + +The following links document each integration and are best approached in the same order presented. + +### [GitHub](github.md) + +GitHub is used for hosting the source repo, tickets and PRs, as well for managing the OAuth and configs for the rest of the other integration services in the CI pipeline. + +### [Dockerfile](dockerfile.md) + +Dockerfiles are used for generating the docker images for building and testing the project. They also self document the setup and configuration of upstream dependencies, ensuring contributors have a reproducible and repeatable development environment for collaboration. + +### [DockerHub](dockerfile.md) + +DockerHub is used to build and host the repo of tagged docker images, so that downstream services in the CI pipeline can quickly download and bootstrap the latest up-to-date development environment. + +### [CircleCI](circleci.md) + +CircleCI is used to checkout, build, and test the project via docker containers spawned from the tagged docker images. Triggered by scheduled or GitHub events like pushed commits branches or pull requests, it deterministically retains a warm build cache while generating logs and test result artifacts. + +### [CodeCov](codecov.md) + +CodeCov is used to help monitor code quality by rendering test artifacts from the upstream pipeline into interactive analytics, improving the visibility of the project's health and feedback for contributions. + +## Future Work + +The CI has some room for improvement and streamlining and may evolve over time. The following notes alterative integration options, as the current pros and cons for each. + +### GitHub Actions +* test result reports +* workspace caching +* uploading artifacts \ No newline at end of file From 2f6bea161d28f9f75f4cf1ab7a69b8bbc2c787aa Mon Sep 17 00:00:00 2001 From: ruffsl Date: Tue, 12 May 2020 15:24:31 -0700 Subject: [PATCH 04/61] Add placeholder doc files --- doc/continuous_integration/circleci.md | 1 + doc/continuous_integration/codecov.md | 1 + doc/continuous_integration/dockerfile.md | 0 doc/continuous_integration/dockerhub.md | 1 + 4 files changed, 3 insertions(+) create mode 100644 doc/continuous_integration/circleci.md create mode 100644 doc/continuous_integration/codecov.md create mode 100644 doc/continuous_integration/dockerfile.md create mode 100644 doc/continuous_integration/dockerhub.md diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md new file mode 100644 index 0000000000..b8fa3cfdf3 --- /dev/null +++ b/doc/continuous_integration/circleci.md @@ -0,0 +1 @@ +https://circleci.com/gh/ros-planning/navigation2 \ No newline at end of file diff --git a/doc/continuous_integration/codecov.md b/doc/continuous_integration/codecov.md new file mode 100644 index 0000000000..6104fb82b4 --- /dev/null +++ b/doc/continuous_integration/codecov.md @@ -0,0 +1 @@ +https://codecov.io/gh/ros-planning/navigation2 \ No newline at end of file diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md new file mode 100644 index 0000000000..e69de29bb2 diff --git a/doc/continuous_integration/dockerhub.md b/doc/continuous_integration/dockerhub.md new file mode 100644 index 0000000000..311a8e3eb3 --- /dev/null +++ b/doc/continuous_integration/dockerhub.md @@ -0,0 +1 @@ +https://hub.docker.com/r/rosplanning/navigation2 \ No newline at end of file From 0077680fcaebf9eed71f8a6d59901438559c522b Mon Sep 17 00:00:00 2001 From: ruffsl Date: Tue, 12 May 2020 15:28:47 -0700 Subject: [PATCH 05/61] Move figs to subfolder --- doc/continuous_integration/README.md | 2 +- .../{ => figs}/pipeline.drawio | 0 doc/continuous_integration/{ => figs}/pipeline.png | Bin 3 files changed, 1 insertion(+), 1 deletion(-) rename doc/continuous_integration/{ => figs}/pipeline.drawio (100%) rename doc/continuous_integration/{ => figs}/pipeline.png (100%) diff --git a/doc/continuous_integration/README.md b/doc/continuous_integration/README.md index 4169ae621c..c688b01658 100644 --- a/doc/continuous_integration/README.md +++ b/doc/continuous_integration/README.md @@ -4,7 +4,7 @@ Documentation on the existing CI for the project is resides here. ## Overview The existing CI is composed of multiple integration services that together help provide maintainers a fast and scalable testing environment. To help detect upstream breakages quickly as well, the existing CI allows for changes to be evaluated using the latest development dependencies. In light of the large dependency footprint a high-level ROS2 navigation stack necessitates, the use of each integration service is optimized to maximize caching of environmental setup and increase workflow throughput. As these optimizations add complexity to the CI configuration, this documentation provides further explanations and resigning behind each configuration. -![pipeline](pipeline.png) +![pipeline](figs/pipeline.png) The figure above is an high level diagram on how the integration services described below are composed. diff --git a/doc/continuous_integration/pipeline.drawio b/doc/continuous_integration/figs/pipeline.drawio similarity index 100% rename from doc/continuous_integration/pipeline.drawio rename to doc/continuous_integration/figs/pipeline.drawio diff --git a/doc/continuous_integration/pipeline.png b/doc/continuous_integration/figs/pipeline.png similarity index 100% rename from doc/continuous_integration/pipeline.png rename to doc/continuous_integration/figs/pipeline.png From f40ef64bef5d0e8d884c9b4ab8c7589a087cec83 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Tue, 12 May 2020 16:56:34 -0700 Subject: [PATCH 06/61] Add comments on circleci --- doc/continuous_integration/circleci.md | 35 +++++++++++++++++++++++++- 1 file changed, 34 insertions(+), 1 deletion(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index b8fa3cfdf3..15891514e2 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -1 +1,34 @@ -https://circleci.com/gh/ros-planning/navigation2 \ No newline at end of file +https://circleci.com/gh/ros-planning/navigation2 + +CircleCI is configured via the [config.yml](/.circleci/config.yml) yaml file within the `.circleci/` folder at the root of the GitHub repo. Further references on configuring CircleCI, such as syntax and structure can be found here: + +* https://circleci.com/docs/2.0/writing-yaml +* https://circleci.com/docs/2.0/configuration-reference + +The config file for this project is self contained and thus densely structured, yet written in a functional style to remain DRY and modular. This keeps it easily generalizable for other ROS packages or for adjusting overlayed workspace. Given the anchors and references in yaml, it's consequently best approached by reading the config file from bottom to top in order of abstraction hierarchy. + +## Workflows + +## Jobs + +## Executors + +## Commands + +## References + +### Common Environment + +### Common Commands + +#### Caching + +#### Building + +#### Testing + +### Checkout + +### Workspaces + +### Code Coverage \ No newline at end of file From 154ef0fd4b2bb1cf003b23b9c5691b0d17a78caf Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 14 May 2020 22:06:19 -0700 Subject: [PATCH 07/61] Stage more links --- doc/continuous_integration/codecov.md | 4 ++- doc/continuous_integration/dockerfile.md | 33 ++++++++++++++++++++++++ doc/continuous_integration/dockerhub.md | 15 ++++++++++- 3 files changed, 50 insertions(+), 2 deletions(-) diff --git a/doc/continuous_integration/codecov.md b/doc/continuous_integration/codecov.md index 6104fb82b4..0179de6ffe 100644 --- a/doc/continuous_integration/codecov.md +++ b/doc/continuous_integration/codecov.md @@ -1 +1,3 @@ -https://codecov.io/gh/ros-planning/navigation2 \ No newline at end of file +https://codecov.io/gh/ros-planning/navigation2 + +https://docs.codecov.io/docs/codecov-yaml \ No newline at end of file diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index e69de29bb2..c55d0909ce 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -0,0 +1,33 @@ +Dockerfiles are + +configured via the [Dockerfile](/Dockerfile) yaml file within the `.circleci/` folder at the root of the GitHub repo. Further references on configuring CircleCI, such as syntax and structure can be found here: + +* https://circleci.com/docs/2.0/writing-yaml +* https://circleci.com/docs/2.0/configuration-reference + +https://docs.docker.com/engine/reference/builder/ + + +* https://hub.docker.com/_/ros +* https://github.com/osrf/docker_images + + +* [colcon](https://colcon.readthedocs.io/en/released) + * CLI tool to build sets of software packages +* [rosdep](http://wiki.ros.org/rosdep) + * CLI tool for installing system dependencies +* [vcstool](https://github.com/dirk-thomas/vcstool) + * CLI for working with multiple repositories easier + + + +* [ccache](https://ccache.dev) + * Compiler cache for speeding up recompilation +* [lcov](http://ltp.sourceforge.net/coverage/lcov.php) + * Front-end for GCC's coverage testing tool gcov + +* https://docs.docker.com/develop/develop-images/build_enhancements/ +* https://github.com/moby/buildkit + + +[cache apt packages](https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/experimental.md#example-cache-apt-packages) to avoid unnecessarily re-downloading the same packages from over the network, even if the docker image layer cache for that directive in the Dockerfile is busted. diff --git a/doc/continuous_integration/dockerhub.md b/doc/continuous_integration/dockerhub.md index 311a8e3eb3..fe15515d39 100644 --- a/doc/continuous_integration/dockerhub.md +++ b/doc/continuous_integration/dockerhub.md @@ -1 +1,14 @@ -https://hub.docker.com/r/rosplanning/navigation2 \ No newline at end of file +https://hub.docker.com + +https://hub.docker.com/r/rosplanning/navigation2 + + + + + +https://docs.docker.com/docker-hub/builds +https://docs.docker.com/docker-hub/builds/advanced + +https://docs.docker.com/docker-hub/webhooks + +[example](https://github.com/osrf/docker_images/blob/master/.github/workflows/trigger_nightly.yaml) \ No newline at end of file From b57a86799f48cab4a5ff241caf081877c187821d Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 28 May 2020 20:19:44 -0700 Subject: [PATCH 08/61] Add content about Dockerfiles --- doc/continuous_integration/dockerfile.md | 74 ++++++++++++++++++++---- 1 file changed, 62 insertions(+), 12 deletions(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index c55d0909ce..2f82bc04ee 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -1,33 +1,83 @@ -Dockerfiles are +Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provide repeatable and reproducible means to build and test the project. Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: -configured via the [Dockerfile](/Dockerfile) yaml file within the `.circleci/` folder at the root of the GitHub repo. Further references on configuring CircleCI, such as syntax and structure can be found here: - -* https://circleci.com/docs/2.0/writing-yaml -* https://circleci.com/docs/2.0/configuration-reference - -https://docs.docker.com/engine/reference/builder/ +* https://docs.docker.com/engine/reference/builder +* https://docs.docker.com/develop/develop-images/dockerfile_best-practices +The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub, thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. Documentation for upstream repos on DockerHub can be found here: * https://hub.docker.com/_/ros * https://github.com/osrf/docker_images +While main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a release ROS2 distro using available pre-built binary dependencies. We'll walk though the main Dockerfile here, although all of them follow the same basic pattern. + +## Global Arguments + +The Dockerfile first declares a number of optional `ARG` values and respective defaults to specify the parent image to build `FROM` and workspace paths. Here the Dockerfiles assume all workspaces are nested within the `/opt` directory. These `ARG`s can be accessed similarly to `ENV`s, but must be declared in stage's scope before they can be used, and unlike `ENV` only exist at build time of that stage and do not persist in the resulting image. + +## Cacher Stage + +A `cacher` stage is then started to gather together the necessary source files to eventually build. A directory for the underlay workspace is then created and populated using `vcs` with the respective `.repos` file that defines the relevant repositories to pull and particular versions to checkout into the source directory. More info on vcstool can be found here: -* [colcon](https://colcon.readthedocs.io/en/released) - * CLI tool to build sets of software packages -* [rosdep](http://wiki.ros.org/rosdep) - * CLI tool for installing system dependencies * [vcstool](https://github.com/dirk-thomas/vcstool) * CLI for working with multiple repositories easier +The `.repos` file is not copied directly into the `src` folder to avoid any restructuring of the yaml data from unintentionally busting the docker build cache in later stages. The ephemeral files within `.git` repo folders are similarly removed and help bolster deterministic builds. + +The overlay workspace is then also created and populated using all the files in the docker build context, i.e. the [root](/) directory of the repo. This is done after the underlay is cloned to avoid having to re-download underlay source files if the `.repos` files are unchanged. However, if the `.repos` file is changed, and different source files are cloned, this can then bust the docker build cache. Other ephemeral or unessential project files are safely ignored using the [`.dockerignore`](/.dockerignore) config. If ever the docker build cache is cache is somehow stale, using the docker build flag `--no-cache` may be used to freshly build anew. + +Finally the `cacher` stage copies the all manifest related files in place within the `/opt` directory into a temporary mirrored directory that later stages can copy from without unnecessarily busting it's docker build cache. The [`source.Dockerfile`](/.dockerhub/source.Dockerfile) provides more a advance example of avoiding ignored package, or packages that are unnecessary as overlay dependencies. + +## Builder Stage +A `builder` stage is then started to install external dependencies and compile the respective workspaces. Static CI dependencies are first installed before any later potential cache busting directives. These include: * [ccache](https://ccache.dev) * Compiler cache for speeding up recompilation * [lcov](http://ltp.sourceforge.net/coverage/lcov.php) * Front-end for GCC's coverage testing tool gcov +### Install Dependencies + +Dependencies for the underlay workspace are then installed using `rosdep` by pointing to the manifest files within the mirrored source directory copied from the `cacher` stage. This ensures the lengthy process of downloading, unpacking, and installing any external dependencies can be skipped using the docker build cache as long as the manifest files within the underlay remain unchanged. More info on rosdep can be found here: + +* [rosdep](http://wiki.ros.org/rosdep) + * CLI tool for installing system dependencies + +The sourcing of the ROS setup file is done to permit rosdep to find additional packages within the installed ament index via `AMENT_PREFIX_PATH` environment variable, or potentially vendored packages unregistered in ament index via the legacy `ROS_PACKAGE_PATH` env. Cleanup of the apt list directory is done as a best practice in Docker to prevent from ever using stale apt list caches. + +### Build Source + +The underlay workspace is then built using `colcon` by first copying over the rest of the source files from the original `src` directory from the `cacher` stage. The colcon flag `--symlink-install` is used to avoid the duplication of files for smaller image sizes, while mixin argument is also parameterized as a Dockerfile `ARG` to programmatically switch between `debug` or `release` builds in CI. More info on colcon can be found here: + +* [colcon](https://colcon.readthedocs.io/en/released) + * CLI tool to build sets of software packages +* [colcon-mixin](https://github.com/colcon/colcon-mixin) + * An extension for colcon-core to fetch and manage CLI mixins from repositories +* [colcon-mixin-repository](https://github.com/colcon/colcon-mixin-repository) + * Repository of common colcon CLI mixins + +The addition of the `ccache` mixin is used to pre-bake a warm ccache directory into the image as well as a pre-built underlay workspace. This will help speedup consecutive builds should later steps in the CI or maintainers have need to rebuild the underlay using the final image. The `console_direct` event handler is used to avoid CI timeout from inactive stdout for slower package builds while the `FAIL_ON_BUILD_FAILURE` env is used to control whether the docker image build should fail to complete upon failure from colcon build. + +## Overlay Workspace + +The overlay workspace is then set up in a similar manner where the same steps are repeated, only now sourcing the underlay setup file, and by building within the overlay directory. The separation of underlay vs overlay workspace helps split caching of compilation across the two major points of change; that of external dependencies that change infrequently upon new releases vs local project source files that perpetually change during development. The overlay mixins are parameterized via `ARG` as well to allow the underlay and overlay to be independently configured by CI or local developers. + +### Setup Entrypoint + +The default entrypoint `ros_entrypoint.sh` inherited from the parent image is then updated to only source the top level overlay instead. The configured `ARG`s defining the paths used to the underlay and overlay are also exported to `ENV`s to persist in the final image as a developer convenience. + +### Testing Overlay + +The overlay may then be optionaly tested using the same additional mixins. The results of the test may also be used to optionaly fail the entire build; useful if the return code from `docker build` command itself is used as a primitive form of CI, or demonstrating to new contributors on how to locally test pull requests by invoking the colcon CLI. + +## Buildkit + +A difference for other Dockerfiles, not needing to be built by DockerHub and thus not limited in backwards compatibility, is the use of newer mount syntax options in buildkit, allowing for persistent caching of downloaded apt packages and ccache files across successful builds of the same Dockerfile. More info on buildkit can be found here: + * https://docs.docker.com/develop/develop-images/build_enhancements/ * https://github.com/moby/buildkit +The [`distro.Dockerfile`][/.dockerhub/distro.Dockerfile] provides once such example of this. More info on using mounts for caching data across docker builds can be found here: -[cache apt packages](https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/experimental.md#example-cache-apt-packages) to avoid unnecessarily re-downloading the same packages from over the network, even if the docker image layer cache for that directive in the Dockerfile is busted. +* [cache apt packages](https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/experimental.md#example-cache-apt-packages) + * avoid unnecessarily re-downloading the same packages over the network, even if the docker image layer cache for that `RUN` directive in the Dockerfile is busted From 61d9a29a43f52306372e28c3a8c7217b8c5539a9 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 28 May 2020 20:28:43 -0700 Subject: [PATCH 09/61] Title docker links --- doc/continuous_integration/dockerfile.md | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 2f82bc04ee..6eb6303cef 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -1,12 +1,14 @@ Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provide repeatable and reproducible means to build and test the project. Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: -* https://docs.docker.com/engine/reference/builder -* https://docs.docker.com/develop/develop-images/dockerfile_best-practices +* [Dockerfile reference +](https://docs.docker.com/engine/reference/builder) +* [Best practices for writing Dockerfiles +](https://docs.docker.com/develop/develop-images/dockerfile_best-practices) The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub, thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. Documentation for upstream repos on DockerHub can be found here: -* https://hub.docker.com/_/ros -* https://github.com/osrf/docker_images +* [Official ROS Docker Images](https://hub.docker.com/_/ros) +* [Official OSRF Dockerfiles](https://github.com/osrf/docker_images) While main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a release ROS2 distro using available pre-built binary dependencies. We'll walk though the main Dockerfile here, although all of them follow the same basic pattern. @@ -74,8 +76,9 @@ The overlay may then be optionaly tested using the same additional mixins. The r A difference for other Dockerfiles, not needing to be built by DockerHub and thus not limited in backwards compatibility, is the use of newer mount syntax options in buildkit, allowing for persistent caching of downloaded apt packages and ccache files across successful builds of the same Dockerfile. More info on buildkit can be found here: -* https://docs.docker.com/develop/develop-images/build_enhancements/ -* https://github.com/moby/buildkit +* [Build images with BuildKit +](https://docs.docker.com/develop/develop-images/build_enhancements) +* [Buildkit repo](https://github.com/moby/buildkit) The [`distro.Dockerfile`][/.dockerhub/distro.Dockerfile] provides once such example of this. More info on using mounts for caching data across docker builds can be found here: From 708a52e77a0f3ce0d2821cefbfea1d72b4705a7a Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 28 May 2020 20:52:05 -0700 Subject: [PATCH 10/61] Add comments on FROM image --- doc/continuous_integration/dockerfile.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 6eb6303cef..0ab4ff68b9 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -16,6 +16,8 @@ While main [`Dockerfile`](/Dockerfile) at the root of the repo is used for devel The Dockerfile first declares a number of optional `ARG` values and respective defaults to specify the parent image to build `FROM` and workspace paths. Here the Dockerfiles assume all workspaces are nested within the `/opt` directory. These `ARG`s can be accessed similarly to `ENV`s, but must be declared in stage's scope before they can be used, and unlike `ENV` only exist at build time of that stage and do not persist in the resulting image. +Here the parent image to build `FROM` is set to `osrf/ros2:nightly` by default, allowing the master branch to simply build against the bleeding edge of ROS2 core development. Enabling project maintainers to spot breaking API changes and regressions as soon as they are merged into master upstream. Alternatively, an image tag based on a released ROS2 distro image, e.g. `ros:`, could also be substituted to compile the project, say for quickly experimenting with planners using complex reinforcement or deep learning framework dependencies. + ## Cacher Stage A `cacher` stage is then started to gather together the necessary source files to eventually build. A directory for the underlay workspace is then created and populated using `vcs` with the respective `.repos` file that defines the relevant repositories to pull and particular versions to checkout into the source directory. More info on vcstool can be found here: From e55b01d6c702fb934beaa3d435b24ccd1bf46e73 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 28 May 2020 20:53:13 -0700 Subject: [PATCH 11/61] Fix typos --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 0ab4ff68b9..3b56411975 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -10,7 +10,7 @@ The Dockerfiles for this project are built upon parent images from upstream repo * [Official ROS Docker Images](https://hub.docker.com/_/ros) * [Official OSRF Dockerfiles](https://github.com/osrf/docker_images) -While main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a release ROS2 distro using available pre-built binary dependencies. We'll walk though the main Dockerfile here, although all of them follow the same basic pattern. +While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a released ROS2 distro using available pre-built binary dependencies. We'll walk through the main Dockerfile here, although all of them follow the same basic pattern. ## Global Arguments From 3294835082d81a8773652837239dc447405292cb Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 28 May 2020 22:51:52 -0700 Subject: [PATCH 12/61] Small touchup --- doc/continuous_integration/dockerfile.md | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 3b56411975..a9381c9d38 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -14,9 +14,12 @@ While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for d ## Global Arguments -The Dockerfile first declares a number of optional `ARG` values and respective defaults to specify the parent image to build `FROM` and workspace paths. Here the Dockerfiles assume all workspaces are nested within the `/opt` directory. These `ARG`s can be accessed similarly to `ENV`s, but must be declared in stage's scope before they can be used, and unlike `ENV` only exist at build time of that stage and do not persist in the resulting image. +The Dockerfile first declares a number of optional `ARG` values and respective defaults to specify the parent image to build `FROM` and workspace paths. Here the Dockerfiles assume all workspaces are nested within the `/opt` directory. These `ARG`s can be accessed similarly to `ENV`s, but must be declared in a stage's scope before they can be used, and unlike `ENV` only exist at build time of that stage and do not persist in the resulting image. For multi-stage builds, the last stage is what is tagged as the final image. More info on multi-stage builds can be found here: -Here the parent image to build `FROM` is set to `osrf/ros2:nightly` by default, allowing the master branch to simply build against the bleeding edge of ROS2 core development. Enabling project maintainers to spot breaking API changes and regressions as soon as they are merged into master upstream. Alternatively, an image tag based on a released ROS2 distro image, e.g. `ros:`, could also be substituted to compile the project, say for quickly experimenting with planners using complex reinforcement or deep learning framework dependencies. +* [Use multi-stage builds +](https://docs.docker.com/develop/develop-images/multistage-build) + +Here the parent image to build `FROM` is set to `osrf/ros2:nightly` by default, allowing the master branch to simply build against the bleeding edge of ROS2 core development. This allows project maintainers to spot breaking API changes and regressions as soon as they are merged upstream. Alternatively, any image tag based on a released ROS2 distro image, e.g. `ros:`, could also be substituted to compile the project, say for quickly experimenting with planners ontop of complex reinforcement or deep learning framework dependencies. ## Cacher Stage @@ -29,7 +32,7 @@ The `.repos` file is not copied directly into the `src` folder to avoid any rest The overlay workspace is then also created and populated using all the files in the docker build context, i.e. the [root](/) directory of the repo. This is done after the underlay is cloned to avoid having to re-download underlay source files if the `.repos` files are unchanged. However, if the `.repos` file is changed, and different source files are cloned, this can then bust the docker build cache. Other ephemeral or unessential project files are safely ignored using the [`.dockerignore`](/.dockerignore) config. If ever the docker build cache is cache is somehow stale, using the docker build flag `--no-cache` may be used to freshly build anew. -Finally the `cacher` stage copies the all manifest related files in place within the `/opt` directory into a temporary mirrored directory that later stages can copy from without unnecessarily busting it's docker build cache. The [`source.Dockerfile`](/.dockerhub/source.Dockerfile) provides more a advance example of avoiding ignored package, or packages that are unnecessary as overlay dependencies. +Finally the `cacher` stage copies all manifest related files in place within the `/opt` directory into a temporary mirrored directory that later stages can copy from without unnecessarily busting it's docker build cache. The [`source.Dockerfile`](/.dockerhub/source.Dockerfile) provides an advance example of avoiding ignored package, or packages that are unnecessary as overlay dependencies. ## Builder Stage @@ -47,7 +50,7 @@ Dependencies for the underlay workspace are then installed using `rosdep` by poi * [rosdep](http://wiki.ros.org/rosdep) * CLI tool for installing system dependencies -The sourcing of the ROS setup file is done to permit rosdep to find additional packages within the installed ament index via `AMENT_PREFIX_PATH` environment variable, or potentially vendored packages unregistered in ament index via the legacy `ROS_PACKAGE_PATH` env. Cleanup of the apt list directory is done as a best practice in Docker to prevent from ever using stale apt list caches. +The sourcing of the ROS setup file is done to permit rosdep to find additional packages within the installed in ament index via `AMENT_PREFIX_PATH` environment variable, or potentially vendored packages unregistered in ament index via the legacy `ROS_PACKAGE_PATH` env. Cleanup of the apt list directory is done as a best practice in Docker to prevent from ever using stale apt list caches. ### Build Source @@ -60,11 +63,11 @@ The underlay workspace is then built using `colcon` by first copying over the re * [colcon-mixin-repository](https://github.com/colcon/colcon-mixin-repository) * Repository of common colcon CLI mixins -The addition of the `ccache` mixin is used to pre-bake a warm ccache directory into the image as well as a pre-built underlay workspace. This will help speedup consecutive builds should later steps in the CI or maintainers have need to rebuild the underlay using the final image. The `console_direct` event handler is used to avoid CI timeout from inactive stdout for slower package builds while the `FAIL_ON_BUILD_FAILURE` env is used to control whether the docker image build should fail to complete upon failure from colcon build. +The addition of the `ccache` mixin is used to pre-bake a warm ccache directory into the image as well as a pre-built underlay workspace. This will help speedup consecutive builds should later steps in the CI or maintainers have need to rebuild the underlay using the final image. The `console_direct` event handler is used to avoid CI timeout from inactive stdout for slower package builds while the `FAIL_ON_BUILD_FAILURE` env is used to control whether the docker image build should fail to complete upon encountering errors durring colcon build. ## Overlay Workspace -The overlay workspace is then set up in a similar manner where the same steps are repeated, only now sourcing the underlay setup file, and by building within the overlay directory. The separation of underlay vs overlay workspace helps split caching of compilation across the two major points of change; that of external dependencies that change infrequently upon new releases vs local project source files that perpetually change during development. The overlay mixins are parameterized via `ARG` as well to allow the underlay and overlay to be independently configured by CI or local developers. +The overlay workspace is then set up in a similar manner where the same steps are repeated, only now sourcing the underlay setup file, and by building within the overlay directory. The separation of underlay vs overlay workspace helps split caching of compilation across the two major points of change; that of external dependencies that change infrequently upon new releases vs local project source files that perpetually change during development. The overlay mixins are parameterized via `ARG` as well to allow the underlay and overlay to be independently configured by CI or local developers. This pattern can be repeated to chain together workspaces in one or multiple Dockerfiles; practically useful when working with a stack of related projects with deep recursive dependencies. ### Setup Entrypoint @@ -82,7 +85,7 @@ A difference for other Dockerfiles, not needing to be built by DockerHub and thu ](https://docs.docker.com/develop/develop-images/build_enhancements) * [Buildkit repo](https://github.com/moby/buildkit) -The [`distro.Dockerfile`][/.dockerhub/distro.Dockerfile] provides once such example of this. More info on using mounts for caching data across docker builds can be found here: +The [`distro.Dockerfile`](/.dockerhub/distro.Dockerfile) provides once such example of this. More info on using mounts for caching data across docker builds can be found here: * [cache apt packages](https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/experimental.md#example-cache-apt-packages) * avoid unnecessarily re-downloading the same packages over the network, even if the docker image layer cache for that `RUN` directive in the Dockerfile is busted From ee8d022d8768a1f7d9af28dba5cb83433576f585 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 28 May 2020 22:59:24 -0700 Subject: [PATCH 13/61] Touchup --- doc/continuous_integration/dockerfile.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index a9381c9d38..7ffbfc85ef 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -1,3 +1,5 @@ +# Dockerfile Documentation + Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provide repeatable and reproducible means to build and test the project. Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: * [Dockerfile reference @@ -59,7 +61,7 @@ The underlay workspace is then built using `colcon` by first copying over the re * [colcon](https://colcon.readthedocs.io/en/released) * CLI tool to build sets of software packages * [colcon-mixin](https://github.com/colcon/colcon-mixin) - * An extension for colcon-core to fetch and manage CLI mixins from repositories + * An extension to fetch and manage CLI mixins from repositories * [colcon-mixin-repository](https://github.com/colcon/colcon-mixin-repository) * Repository of common colcon CLI mixins From 6c99582b695c076209e788e60051737b3879f873 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 28 May 2020 23:39:35 -0700 Subject: [PATCH 14/61] Update links --- doc/continuous_integration/dockerfile.md | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 7ffbfc85ef..0c05b1bf3c 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -9,8 +9,10 @@ Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provide The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub, thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. Documentation for upstream repos on DockerHub can be found here: -* [Official ROS Docker Images](https://hub.docker.com/_/ros) -* [Official OSRF Dockerfiles](https://github.com/osrf/docker_images) +* [ROS Docker Images](https://hub.docker.com/_/ros) + * DockerHub repo for official images +* [ROS Dockerfiles](https://github.com/osrf/docker_images) + * GitHub repo for OSRF Dockerfiles While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a released ROS2 distro using available pre-built binary dependencies. We'll walk through the main Dockerfile here, although all of them follow the same basic pattern. @@ -20,6 +22,7 @@ The Dockerfile first declares a number of optional `ARG` values and respective d * [Use multi-stage builds ](https://docs.docker.com/develop/develop-images/multistage-build) + * Optimize while keeping Dockerfiles readable and maintainable Here the parent image to build `FROM` is set to `osrf/ros2:nightly` by default, allowing the master branch to simply build against the bleeding edge of ROS2 core development. This allows project maintainers to spot breaking API changes and regressions as soon as they are merged upstream. Alternatively, any image tag based on a released ROS2 distro image, e.g. `ros:`, could also be substituted to compile the project, say for quickly experimenting with planners ontop of complex reinforcement or deep learning framework dependencies. @@ -34,7 +37,7 @@ The `.repos` file is not copied directly into the `src` folder to avoid any rest The overlay workspace is then also created and populated using all the files in the docker build context, i.e. the [root](/) directory of the repo. This is done after the underlay is cloned to avoid having to re-download underlay source files if the `.repos` files are unchanged. However, if the `.repos` file is changed, and different source files are cloned, this can then bust the docker build cache. Other ephemeral or unessential project files are safely ignored using the [`.dockerignore`](/.dockerignore) config. If ever the docker build cache is cache is somehow stale, using the docker build flag `--no-cache` may be used to freshly build anew. -Finally the `cacher` stage copies all manifest related files in place within the `/opt` directory into a temporary mirrored directory that later stages can copy from without unnecessarily busting it's docker build cache. The [`source.Dockerfile`](/.dockerhub/source.Dockerfile) provides an advance example of avoiding ignored package, or packages that are unnecessary as overlay dependencies. +Finally the `cacher` stage copies all manifest related files in place within the `/opt` directory into a temporary mirrored directory that later stages can copy from without unnecessarily busting it's docker build cache. The [`source.Dockerfile`](/.dockerhub/source.Dockerfile) provides an advance example of avoiding ignored packages, or packages that are unnecessary as overlay dependencies. ## Builder Stage @@ -58,7 +61,7 @@ The sourcing of the ROS setup file is done to permit rosdep to find additional p The underlay workspace is then built using `colcon` by first copying over the rest of the source files from the original `src` directory from the `cacher` stage. The colcon flag `--symlink-install` is used to avoid the duplication of files for smaller image sizes, while mixin argument is also parameterized as a Dockerfile `ARG` to programmatically switch between `debug` or `release` builds in CI. More info on colcon can be found here: -* [colcon](https://colcon.readthedocs.io/en/released) +* [colcon](https://colcon.readthedocs.io) * CLI tool to build sets of software packages * [colcon-mixin](https://github.com/colcon/colcon-mixin) * An extension to fetch and manage CLI mixins from repositories From 66ee19f169c08ebc386f1c21b12d43b94c3bc4d5 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 28 May 2020 23:41:17 -0700 Subject: [PATCH 15/61] Tweek --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 0c05b1bf3c..ea25ca14b5 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -24,7 +24,7 @@ The Dockerfile first declares a number of optional `ARG` values and respective d ](https://docs.docker.com/develop/develop-images/multistage-build) * Optimize while keeping Dockerfiles readable and maintainable -Here the parent image to build `FROM` is set to `osrf/ros2:nightly` by default, allowing the master branch to simply build against the bleeding edge of ROS2 core development. This allows project maintainers to spot breaking API changes and regressions as soon as they are merged upstream. Alternatively, any image tag based on a released ROS2 distro image, e.g. `ros:`, could also be substituted to compile the project, say for quickly experimenting with planners ontop of complex reinforcement or deep learning framework dependencies. +Here the parent image to build `FROM` is set to `osrf/ros2:nightly` by default, allowing the master branch to simply build against the bleeding edge of ROS2 core development. This allows project maintainers to spot breaking API changes and regressions as soon as they are merged upstream. Alternatively, any image tag based on a released ROS2 distro image, e.g. `ros:`, could also be substituted to compile the project, say for quickly experimenting with planners ontop of complex reinforcement or deep learning framework dependencies. ## Cacher Stage From d9efda16411a34b477e3a4e37231ac79a3e9bb30 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 29 May 2020 01:07:07 -0700 Subject: [PATCH 16/61] Update links --- doc/continuous_integration/dockerfile.md | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index ea25ca14b5..937d3b9275 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -2,17 +2,16 @@ Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provide repeatable and reproducible means to build and test the project. Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: -* [Dockerfile reference -](https://docs.docker.com/engine/reference/builder) -* [Best practices for writing Dockerfiles -](https://docs.docker.com/develop/develop-images/dockerfile_best-practices) +* [Dockerfile reference](https://docs.docker.com/engine/reference/builder) +* [Best practices for writing Dockerfiles](https://docs.docker.com/develop/develop-images/dockerfile_best-practices) -The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub, thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. Documentation for upstream repos on DockerHub can be found here: +The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub, thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. More info on upstream repos on DockerHub can be found here: * [ROS Docker Images](https://hub.docker.com/_/ros) * DockerHub repo for official images * [ROS Dockerfiles](https://github.com/osrf/docker_images) * GitHub repo for OSRF Dockerfiles +* [Official Images on Docker Hub](https://docs.docker.com/docker-hub/official_images) While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a released ROS2 distro using available pre-built binary dependencies. We'll walk through the main Dockerfile here, although all of them follow the same basic pattern. @@ -20,8 +19,7 @@ While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for d The Dockerfile first declares a number of optional `ARG` values and respective defaults to specify the parent image to build `FROM` and workspace paths. Here the Dockerfiles assume all workspaces are nested within the `/opt` directory. These `ARG`s can be accessed similarly to `ENV`s, but must be declared in a stage's scope before they can be used, and unlike `ENV` only exist at build time of that stage and do not persist in the resulting image. For multi-stage builds, the last stage is what is tagged as the final image. More info on multi-stage builds can be found here: -* [Use multi-stage builds -](https://docs.docker.com/develop/develop-images/multistage-build) +* [Use multi-stage builds](https://docs.docker.com/develop/develop-images/multistage-build) * Optimize while keeping Dockerfiles readable and maintainable Here the parent image to build `FROM` is set to `osrf/ros2:nightly` by default, allowing the master branch to simply build against the bleeding edge of ROS2 core development. This allows project maintainers to spot breaking API changes and regressions as soon as they are merged upstream. Alternatively, any image tag based on a released ROS2 distro image, e.g. `ros:`, could also be substituted to compile the project, say for quickly experimenting with planners ontop of complex reinforcement or deep learning framework dependencies. @@ -86,8 +84,7 @@ The overlay may then be optionaly tested using the same additional mixins. The r A difference for other Dockerfiles, not needing to be built by DockerHub and thus not limited in backwards compatibility, is the use of newer mount syntax options in buildkit, allowing for persistent caching of downloaded apt packages and ccache files across successful builds of the same Dockerfile. More info on buildkit can be found here: -* [Build images with BuildKit -](https://docs.docker.com/develop/develop-images/build_enhancements) +* [Build images with BuildKit](https://docs.docker.com/develop/develop-images/build_enhancements) * [Buildkit repo](https://github.com/moby/buildkit) The [`distro.Dockerfile`](/.dockerhub/distro.Dockerfile) provides once such example of this. More info on using mounts for caching data across docker builds can be found here: From d152a90efe739450654cc58a5d75e05e28501fde Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 29 May 2020 12:47:08 -0700 Subject: [PATCH 17/61] Add docs on DockerHub --- doc/continuous_integration/dockerhub.md | 55 ++++++++++++++++-- .../figs/dockerhub_build_configurations.png | Bin 0 -> 184321 bytes 2 files changed, 49 insertions(+), 6 deletions(-) create mode 100644 doc/continuous_integration/figs/dockerhub_build_configurations.png diff --git a/doc/continuous_integration/dockerhub.md b/doc/continuous_integration/dockerhub.md index fe15515d39..8ce7df3907 100644 --- a/doc/continuous_integration/dockerhub.md +++ b/doc/continuous_integration/dockerhub.md @@ -1,14 +1,57 @@ -https://hub.docker.com +# DockerHub Documentation -https://hub.docker.com/r/rosplanning/navigation2 +DockerHub is a service used to build docker images from the project's Dockerfiles, as well as a registry used to host tagged images built. Using a docker registry permits the project to offload much of the environmental setup from the rest of the CI pipeline. More info on DockerHub can be found here: +* [DockerHub](https://hub.docker.com/) +* [Docker Hub Quickstart](https://docs.docker.com/docker-hub) +The tagged images on the project's repo in the registry are used by the CI pipeline to spawn containers to build and test the project. The advantage of hosting such images in a registry to readly pull from rather than merely re-building the Dockerfiles in CI tests enables frontloading much of the principled environmental setup prior to the start of CI jobs. This saves build time, spares resources/credits for other jobs, and helps to accelerate the development cycle. The project's DockerHub repo can be found here: +* [Navigation2 on DockerHub](https://hub.docker.com/r/rosplanning/navigation2) +While DockerHub does not require the use of configuration files in the source repo, the Dockerfiles and respective scripts used to customize automated builds of images are tracked in the [`.dockerhub`](/.dockerhub) directory. These scripts include custom build phase hooks used by DockerHub during automated builds. More info on automated builds can be found here: -https://docs.docker.com/docker-hub/builds -https://docs.docker.com/docker-hub/builds/advanced +* [How Automated Builds work](https://docs.docker.com/docker-hub/builds) +* [Advanced options for Autobuild and Autotest](https://docs.docker.com/docker-hub/builds/advanced) -https://docs.docker.com/docker-hub/webhooks +Automated Builds must be enabled via the build configurations menu within the repo's administrative console on DockerHub. For reference, a figure of the project's build configurations is shown here: -[example](https://github.com/osrf/docker_images/blob/master/.github/workflows/trigger_nightly.yaml) \ No newline at end of file +![DockerHub Build Configurations](figs/dockerhub_build_configurations.png) + +Here the repo's source repository is linked to the project's GitHub repo, while Autotest is disabled given a dedicated CI service is separately used to run test jobs. Repository linking is enabled so that whenever the base image is updated on DockerHub, it will also trigger a build for the project's DockerHub repository. Note that this only works for non-official images. Two build rules are added for the master branch, providing both a release and debug tag for CI to pull from. The paths to the relative Dockerfiles are designated, while the build context is intentionally left empty. This ensures that the build phase hooks within the same paths are used appropriately. Build caching is also enabled to shorten image turnaround time if multiple rebuilds a day are triggered. + +The build hooks, e.g. [build](/.dockerhub/debug/hooks/build) , serve a few purposes. The first being to customize docker commands to override build arguments denoted in the Dockerfile via the `ARG` directives, such as adjusting the colcon mixins for each workspace to enable code coverage, or disabling fail on build failure so the breakages in master don't block the building of CI images for master. + +The build hooks secondly allow for the redirection of target Dockerfile and build context, given the use of `ARG` to parameterize the parent image to build `FROM` inhibits the normal use of repository links. This is a limitation of the Dockerfile parsing used by DockerHub to infer what repo/tag the build rule should trigger from. + +As a workaround, the build rule points to a dummy Docker file that includes the desired parent image tag to build `FROM`, while the build hook then uses the main Dockerfile with the same `FROM_IMAGE`. This allows the slower debug CI to build and test only using the default RMW, while allowing the faster release CI jobs to build and test from an image with more RMWs installed. + +## Alternatives + +While the free registry for hosting is great, allowing project gigabytes of free storage/bandwidth to cache pre-configured images for various branches or CI scenario, that would otherwise take free tier CI instances far longer to rebuild from scratch rather than pull from registry, the automated build integration isn't as easily configurable for advance use cases. Also, given that automated build rules are configured out-of-band of the source repo for example, forking the project would not self contain all the configuration needed to simply mirror the CI setup. + +There are a few alternatives such as triggering builds via APIs or building the images remotely from different CI providers and pushing them back to docker registry. Although each has its pros and cons. + +### Build Trigger API + +Rather than configuring the build rules on DockerHub, a build trigger URL can be generated for the linked repo and used to programmatically specify build parameters such as: tag names, context path, source branch or version, etc. Although it seems this API is now less documented. More info on Build Trigger can be found here: + +* [Remote Build Triggers](https://github.com/docker/docker.github.io/blob/v17.06-release/docker-hub/builds.md#remote-build-triggers) + * Legacy docs on using build triggers +* [Example GitHub Action](https://github.com/osrf/docker_images/blob/master/.github/workflows/trigger_nightly.yaml) + * Scheduled cron job used to rebuild a nightly image +[Example Build Hook](https://github.com/osrf/docker_images/blob/master/ros2/nightly/nightly/hooks/post_push) + * A hook to rebuild a child image post push or parent tag + +However, triggering builds via API rather than relying on the DockerHub build rules also means forgoing the convenience of repository linking, where a repo's image can be sure to be rebuilt as soon as a new version of the parent image tag is pushed to the registry without needing to monitor the parent image repos oneself. This helps keep the CI environment uptodate and in sync with upstream development. + +### Outsource Image Builds + +Instead of using DockerHub as the remote builder, any CI that supports Docker can similarly be used to build and push images to DockerHub's registry. As of writing however, aside from username/password authentication, DockerHub only provides personal access tokens tied to individual usernames rather than an organizations. This is a bit tedious, as to manage the CI as an organization, a separate machine account must be created and delegated with user permissions to push to the DockerHub repo. More info on CI integration with Docker can be found here: + +* [Docker Hub: Managing access tokens](https://docs.docker.com/docker-hub/access-tokens/) +* [Docker + GitHub Actions](https://github.com/marketplace/actions/build-and-push-docker-images) +* [Docker + CircleCI Orbs](https://circleci.com/orbs/registry/orb/circleci/docker) +* [Docker + Azure Tasks](https://docs.microsoft.com/en-us/azure/devops/pipelines/tasks/build/docker?view=azure-devops#build-and-push) + +Additionally, local build caching is often a premium feature for most other services, thus to benefit from docker build caching, one must manage a build agent for docker builds, or pony up to upgrade from a conventional open source free tier CI plan. diff --git a/doc/continuous_integration/figs/dockerhub_build_configurations.png b/doc/continuous_integration/figs/dockerhub_build_configurations.png new file mode 100644 index 0000000000000000000000000000000000000000..e48736fd61f7f6ec095c21c3609a28e592f65584 GIT binary patch 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building and testing the project. They also self document the setup and configuration of upstream dependencies, ensuring contributors have a reproducible and repeatable development environment for collaboration. -### [DockerHub](dockerfile.md) +### [DockerHub](dockerhub.md) DockerHub is used to build and host the repo of tagged docker images, so that downstream services in the CI pipeline can quickly download and bootstrap the latest up-to-date development environment. From 2f95535bef6fb98efdbce237aeb1b442ff716541 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 29 May 2020 12:56:01 -0700 Subject: [PATCH 19/61] Fix formating --- doc/continuous_integration/dockerhub.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerhub.md b/doc/continuous_integration/dockerhub.md index 8ce7df3907..9e24d7dd2a 100644 --- a/doc/continuous_integration/dockerhub.md +++ b/doc/continuous_integration/dockerhub.md @@ -40,7 +40,7 @@ Rather than configuring the build rules on DockerHub, a build trigger URL can be * Legacy docs on using build triggers * [Example GitHub Action](https://github.com/osrf/docker_images/blob/master/.github/workflows/trigger_nightly.yaml) * Scheduled cron job used to rebuild a nightly image -[Example Build Hook](https://github.com/osrf/docker_images/blob/master/ros2/nightly/nightly/hooks/post_push) +* [Example Build Hook](https://github.com/osrf/docker_images/blob/master/ros2/nightly/nightly/hooks/post_push) * A hook to rebuild a child image post push or parent tag However, triggering builds via API rather than relying on the DockerHub build rules also means forgoing the convenience of repository linking, where a repo's image can be sure to be rebuilt as soon as a new version of the parent image tag is pushed to the registry without needing to monitor the parent image repos oneself. This helps keep the CI environment uptodate and in sync with upstream development. From f7ca00805f1e6d806b789a7ca86bf9eac1047d2c Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 10 Jul 2020 02:49:41 -0700 Subject: [PATCH 20/61] Update CIrcleCI docs --- doc/continuous_integration/circleci.md | 78 ++++++++++++++++++++++++-- 1 file changed, 72 insertions(+), 6 deletions(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index 15891514e2..a74668eb8b 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -1,34 +1,100 @@ -https://circleci.com/gh/ros-planning/navigation2 +# CircleCI Documentation -CircleCI is configured via the [config.yml](/.circleci/config.yml) yaml file within the `.circleci/` folder at the root of the GitHub repo. Further references on configuring CircleCI, such as syntax and structure can be found here: +CircleCI is a service used to build and test the project's codebase to catch regressions as well as to check pull request submissions. Using continuous integration helps maintainers sustain high code quality while providing external contributors a well defined evaluation method with which to polish contributions, without even needing to stand up entire development environment locally. More info on CircleCI can be found here: -* https://circleci.com/docs/2.0/writing-yaml -* https://circleci.com/docs/2.0/configuration-reference +* [CircleCI](https://circleci.com/) +* [Navigation2 on CircleCI](https://circleci.com/gh/ros-planning/navigation2) -The config file for this project is self contained and thus densely structured, yet written in a functional style to remain DRY and modular. This keeps it easily generalizable for other ROS packages or for adjusting overlayed workspace. Given the anchors and references in yaml, it's consequently best approached by reading the config file from bottom to top in order of abstraction hierarchy. +For this particular CI, Docker is used to build and test the project within containers derived from images pulled from DockerHub, bootstrapping the CI with a development environment including pre configured dependencies and warm workspace build caches. View the accompanying DockerFile and DockerHub documentation for more info on this accompanying CI setup. + +* [Dockerfile](dockerfile.md) +* [DockerHub](dockerhub.md) + +CircleCI is configured via the [config.yml](/.circleci/config.yml) yaml file within the `.circleci/` folder at the root of the GitHub repo. The config file for this project is self-contained and thus densely structured, yet written in a functional style to remain DRY and modular. This keeps it easily generalizable for other ROS packages or for adjusting overlayed workspaces. Given the anchors and references in yaml, it's consequently best approached by reading the config file from bottom to top in order of abstraction hierarchy. Further references on configuring CircleCI, such as syntax and structure can be found here: + +* [Writing YAML](https://circleci.com/docs/2.0/writing-yaml) +* [Configuring CircleCI](https://circleci.com/docs/2.0/configuration-reference) ## Workflows +The CI config consists of two main [workflows](https://circleci.com/docs/2.0/configuration-reference/#workflows). One workflow is for checking PR events, essentially triggered by any pushed commits towards the repo, by building and testing the project both in release and debug mode for accurate performance benchmarking or generating test coverage results. The second is cron scheduled to check the main repo branches daily, while additionally testing a matrix of supported RMW vendors not normally tested within day-to-day PRs. This helps prioritize CI to quickly check new contributions, while simultaneously keeping tabs on the health of existing code. + +The order in which jobs are executed is conditional upon the completion of those is [requares](https://circleci.com/docs/2.0/configuration-reference/#requires), forming a conventional direct acyclic graph of dependent jobs. Unrelated jobs may of course be parallelized in the CI pipeline; so by splitting the build and test jobs in two, multiple jobs such as the matrix of RMW tests may commence as soon as the dependent build job completes, avoiding unnecessarily re-building the same codebase for each RMW vendor. + ## Jobs +The list of [jobs](https://circleci.com/docs/2.0/configuration-reference/#jobs) referenced within the workflows consist of either release or debug build/test jobs. These jobs are largely similar with the exception of using different executors, and that debug test jobs include additional command steps for reporting code coverage analytics. The build jobs simply checkout the project, set up the build environment, and compile the project. The test jobs in turn pick up from where the build job left off by restoring the build, and then running the test on that build. + +In addition to enabling the parallelization of different types of test jobs, the bifurcation build and test jobs enables efficiently controlling the [parallelism](https://circleci.com/docs/2.0/configuration-reference/#parallelism) within each job itself, leveraged later for test splitting. However, given the workspace caching and principled builds, parallelism within build jobs is not as easily applied nor justified, thus parallelism here is applied only to testing. + ## Executors +Two different [executors](https://circleci.com/docs/2.0/configuration-reference/#executors-requires-version-21) are used to define the environment in which the steps of a job will be run, one for debug and one for release builds. Given only the release executor is used in testing the full matrix of RMW vendors, the docker images for the debug executor merely include the default RMW; sparing debug jobs the time in compiling unused RMW vendors in debug testing. + +The executors also differ by a few environment variables. These include appropriate mixin flags for the workspace builds and an additional nonce string, unique to that executor, used in deriving the hash key for saving and restoring caches. This prevents cache key collisions or cross talk between parallel jobs using different executors in the same workflow. + ## Commands +To reuse sequences of steps across multiple jobs, a number of [commands](https://circleci.com/docs/2.0/configuration-reference/#commands-requires-version-21) are defined. In addition to a few common commands for abstracting lower level tasks as a function, a number of higher level commands are also recursively composed of smaller formulaic steps. + +When checking our source code from the repo, additional pre and post checkout steps are performed to prepare the file system. When setting up dependencies, the build is prepared much the same way as in the project Dockerfile, by first setting up the underlay and then the overlay workspace. Additional steps are included for restoring and resetting previous ccache files and statistics, including a few diagnostic steps that can be used for debugging the CI itself, e.g. investigating as to why the hit rate for ccache may be abnormally low. Once the overlay setup is finished, more ccache diagnostics and files are saved for inspection or later restoration. A restore build command is also defined for test jobs, operating under the condition that a workspace with the same checksum can be restored from a previous build job in the workflow. Additional commands are also defined for steps in testing overlay workspace and reporting coverage results. + ## References +Per the YAML syntax, a reference must proceed any anchor that it links back to. As a formality, all references are merely prefaced and organized under the key titled `references`. + ### Common Environment +For environment variables common among the executors, workspace paths and specific config options are listed here. While the workspace paths are parameterized to avoid hardcoding paths in common command functions, they may also be hardcoded as fields among a few high level steps given a limitation of the config syntax. The additional config options help optimize our project build given CI resource limits: + +* Capping ccache size/location given CI storage limits, speeding up cache restoration +* Limiting parallel make and linker jobs as to avoid exhausting all un-allocated RAM +* Further adjustments for changing robust test behavior and sequential test stdout. + ### Common Commands +Common commands for low level, repeated, and formulaic tasks are defined for saving and restoring CI caches, as well as for installing, building, and testing workspaces. + #### Caching +Multiple caches may be saved and restored over the completion of a single workflow. To appropriately save and restore cache in a deterministic manner, these steps are abstracted as commands. For this project, caching is done with respect to a given workspace. As such, a specified string and checksum from the workspace are combined with workflow specifics to ensure the [restored cache](https://circleci.com/docs/2.0/configuration-reference/#restore_cache) is uniquely identifiable and won't collide with other concurrent PRs. + +For saving a cache, the command is similar, aside from specifying the path to directory or file to be stored in the [saved cache](https://circleci.com/docs/2.0/configuration-reference/#save_cache). Given CI cache are conventionally read only, meaning a cache key can not be reused or updated to point to a newer cache, the current unix epoch is appended to the cache key to ensure key uniqueness. Because CircleCI key lookup behavior for cache restoration is performed via the most recent longest matching prefix, the latest matching cache is always restored. + +These workspace checksums are uploaded as [stored artifacts](https://circleci.com/docs/2.0/configuration-reference/#store_artifacts) throughout other commands to help introspect to debug caching behavior when needed. + #### Building +For installing and building workspaces, the process resembles that within the project Dockerfile. Additional bookkeeping is performed to update the workspace checksum file by piping stdout that deterministically describes the state of the build environment. This is done by seeding from the checksum of the underlay workspace and then appending info about source code checked out into the overlay workspace, as well as the list of required dependencies installed. When setting up the workspace, this checksum will first be used to check if the workspace can be restored from a prior workflow build. If the source code or required dependencies change, resulting in a missed cache hit, the unfinished workspace is then built. If the workspace build is successful then it will be cached. Regardless however, the build logs are always uploaded as stored artifacts for review or debugging. The odd shuffling of symbolic directories is done as a workaround given a limitation of the S3 SDK: + +* [Failing to upload artifacts from symbolic link directories](https://discuss.circleci.com/t/failing-to-upload-artifacts-from-symbolic-link-directories/28000) + #### Testing +For testing workspaces, the list of packages within the workspace are [tested in parallel](https://circleci.com/docs/2.0/parallelism-faster-jobs/) across the number of replicated containers for the given test job as denoted by the `parallelism` option. Here packages are split by anticipated test timing; the heuristic derived from the reported duration and classname of prior recent test results. The logs and results from the tests are then always [reported](https://circleci.com/docs/2.0/configuration-reference/#store_test_results) and uploaded. + ### Checkout +Checking out code consists of three stages, including pre and post checkout steps. To simplify the formulaic common commands above, the pre-checkout step replicates a synthetic workspace from the installed ROS distro directory by symbolically linking an install folder, and bootstrapping the checksum from the timestamp of an expected file in ROS docker images. This is a measure to ensure if the nightly docker image is changed/rebuilt, then all CI caches should also be busted. Ideally, the docker image sha/hash should be used for this instead, but as of writing there does not seem to be a reliable method for acquiring this image digest from within the same derived container: + +* [Introspect image info from inside docker executor](https://discuss.circleci.com/t/introspect-image-info-from-inside-docker-executor/31620) + +The overlay workspace is then cleaned prior to checking out the project. The post checkout step simply checks to see if the underlay has changed to determine whether it should also be cleaned, recloned, and thus rebuilt as well. + ### Workspaces -### Code Coverage \ No newline at end of file +The rest of the high level commands serve as references to repeatedly define workspace specific commands, such as install, building and testing either the underlay or overlay workspace. Some point of note however include: + +* The CI cache for ccache is intentionally linked with the underlay rather than the overlay workspace + * so that consecutive commits to the same PR are more likely to retain a warm and recent ccache +* CCache Stats is intentionally used to zero stats before building a workspace + * so the next consecutive run of the CCache Stats reflects only upon that given workspace +* Restore workspace command intentionally sets the `build` filed to `false` + * to avoid unnecessary duplication of the same workspace cache and build logs + +### Code Coverage + +A custom script within the repo is reused to collect and post process the generated code coverage results from debug test jobs. This always runs regardless if the tests fail so that failed code coverage reports may still be reviewed. The final report is uploaded to CodeCov via the third party orb. Note that the use of a third party orb requires the enabling of a permission in CircleCI settings for the repo. So if you would like to upload code coverage results for your own fork, you'll have to explicitly allow it. + +* [CodeCov Orb](https://circleci.com/orbs/registry/orb/codecov/codecov) +* [Orbs Introduction](https://circleci.com/docs/2.0/orb-intro) From 6112532b95e868b081e94e4cce48a072c4764889 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 10 Jul 2020 13:28:14 -0700 Subject: [PATCH 21/61] Note why caches are used instead of workspaces --- doc/continuous_integration/circleci.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index a74668eb8b..4077180b65 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -57,7 +57,9 @@ Common commands for low level, repeated, and formulaic tasks are defined for sav #### Caching -Multiple caches may be saved and restored over the completion of a single workflow. To appropriately save and restore cache in a deterministic manner, these steps are abstracted as commands. For this project, caching is done with respect to a given workspace. As such, a specified string and checksum from the workspace are combined with workflow specifics to ensure the [restored cache](https://circleci.com/docs/2.0/configuration-reference/#restore_cache) is uniquely identifiable and won't collide with other concurrent PRs. +Multiple forms of [caching](https://circleci.com/docs/2.0/caching/) is done over the completion of a single workflow. To appropriately save and restore caches in a deterministic manner, these steps are abstracted as commands. Although CircleCI does provide an explicit step for persisting temporary files across jobs in the same workflow, i.e. a [workspace](https://circleci.com/docs/2.0/configuration-reference/#persist_to_workspace), caches are used instead for a few reasons. First there is only one workspace per workflow, thus avoiding cross talk between executors or release/debug job types is not as easily achievable. Secondly, unlike workspaces, caches can persist across workflows, permitting repeated workflows for the same PR to pull from the cache of prior runs; e.g. in order to keep the ccache as fresh as possible for that specific PR. + +For this project, caching is done with respect to a given workspace. As such, a specified string and checksum from the workspace are combined with workflow specifics to ensure the [restored cache](https://circleci.com/docs/2.0/configuration-reference/#restore_cache) is uniquely identifiable and won't collide with other concurrent PRs. For saving a cache, the command is similar, aside from specifying the path to directory or file to be stored in the [saved cache](https://circleci.com/docs/2.0/configuration-reference/#save_cache). Given CI cache are conventionally read only, meaning a cache key can not be reused or updated to point to a newer cache, the current unix epoch is appended to the cache key to ensure key uniqueness. Because CircleCI key lookup behavior for cache restoration is performed via the most recent longest matching prefix, the latest matching cache is always restored. From 0371a47ea566129265ac5bff8563631aa7f5e176 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Wed, 23 Sep 2020 21:33:30 -0700 Subject: [PATCH 22/61] Stage multistage diagram --- .../figs/multistage.drawio | 258 ++++++++++++++++++ 1 file changed, 258 insertions(+) create mode 100644 doc/continuous_integration/figs/multistage.drawio diff --git a/doc/continuous_integration/figs/multistage.drawio b/doc/continuous_integration/figs/multistage.drawio new file mode 100644 index 0000000000..e6ac3bf8b8 --- /dev/null +++ b/doc/continuous_integration/figs/multistage.drawio @@ -0,0 +1,258 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file From 6124ec0b75a8b8d07315ac7088010c7c0a46af81 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Wed, 23 Sep 2020 21:33:48 -0700 Subject: [PATCH 23/61] stage multistage svg --- doc/continuous_integration/figs/multistage.svg | 1 + 1 file changed, 1 insertion(+) create mode 100644 doc/continuous_integration/figs/multistage.svg diff --git a/doc/continuous_integration/figs/multistage.svg b/doc/continuous_integration/figs/multistage.svg new file mode 100644 index 0000000000..614938e399 --- /dev/null +++ b/doc/continuous_integration/figs/multistage.svg @@ -0,0 +1 @@ +cacherros2_dependerunderlay_dependeroverlay_dependerros2_builderunderlay_builderoverlay_builderros2_testerunderlay_testeroverlay_testeroverlay_shipperworkspaces_testerLegend
FROM

COPY
FROM...Viewer does not support full SVG 1.1 \ No newline at end of file From ae3444addf2cc4090ea0cdba1b6a55cc5e742a99 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 24 Sep 2020 13:02:17 -0700 Subject: [PATCH 24/61] Annotate multistage figure --- .../figs/multistage.drawio | 177 +++++++++++------- .../figs/multistage.svg | 2 +- 2 files changed, 114 insertions(+), 65 deletions(-) diff --git a/doc/continuous_integration/figs/multistage.drawio b/doc/continuous_integration/figs/multistage.drawio index e6ac3bf8b8..7b34cf99d6 100644 --- a/doc/continuous_integration/figs/multistage.drawio +++ b/doc/continuous_integration/figs/multistage.drawio @@ -1,24 +1,24 @@ - + - + - + - + - - + + - + @@ -26,18 +26,21 @@ - + - + - + + + + - + @@ -45,12 +48,12 @@ - + - + @@ -58,68 +61,74 @@ - + - + - + - + - + - - + + + + + + + + - + - + - + - + - + - + - + - + - + - + @@ -127,7 +136,7 @@ - + @@ -135,50 +144,47 @@ - - + + - + - + - - + - + - - + - + - - + - + @@ -187,68 +193,111 @@ - + + - + + - + + - + - - + + - - + + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + + + + + + + - - - - + - + + + + + + + + + - - + + - - + + diff --git a/doc/continuous_integration/figs/multistage.svg b/doc/continuous_integration/figs/multistage.svg index 614938e399..6c0d8aa7fa 100644 --- a/doc/continuous_integration/figs/multistage.svg +++ b/doc/continuous_integration/figs/multistage.svg @@ -1 +1 @@ -cacherros2_dependerunderlay_dependeroverlay_dependerros2_builderunderlay_builderoverlay_builderros2_testerunderlay_testeroverlay_testeroverlay_shipperworkspaces_testerLegend
FROM

COPY
FROM...Viewer does not support full SVG 1.1 \ No newline at end of file +cacherros2_dependerunderlay_dependeroverlay_dependerros2_builderunderlay_builderoverlay_builderros2_testerunderlay_testeroverlay_testerworkspace_shipperworkspace_testerLegend
FROM

COPY
FROM...
package manifests
package manifests
source code
source code
test logs
test logs
workspace
workspace
workspace
workspaceosrf/ros2:devel
packages.ros.org

colcon
rosdep
vcstool

ros_entrypoint.sh
packages.ros.org...Viewer does not support full SVG 1.1 \ No newline at end of file From f20f228fff35513be890445a17c824b4ade1e253 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Thu, 24 Sep 2020 13:04:27 -0700 Subject: [PATCH 25/61] Tweek final stage names --- .dockerhub/source.Dockerfile | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.dockerhub/source.Dockerfile b/.dockerhub/source.Dockerfile index 149bc7c949..c17e65a8de 100644 --- a/.dockerhub/source.Dockerfile +++ b/.dockerhub/source.Dockerfile @@ -223,16 +223,16 @@ RUN if [ -n "$RUN_TESTS" ]; then \ || ([ -z "$FAIL_ON_TEST_FAILURE" ] || exit 1) \ fi -# multi-stage for testing workspaces -FROM overlay_builder AS workspaces_tester +# multi-stage for testing workspace +FROM overlay_builder AS workspace_tester # copy workspace test results COPY --from=ros2_tester $ROS2_WS/log $ROS2_WS/log COPY --from=underlay_tester $UNDERLAY_WS/log $UNDERLAY_WS/log COPY --from=overlay_tester $OVERLAY_WS/log $OVERLAY_WS/log -# multi-stage for shipping overlay -FROM overlay_builder AS overlay_shipper +# multi-stage for shipping workspace +FROM overlay_builder AS workspace_shipper # restore apt for docker RUN mv /etc/apt/docker-clean /etc/apt/apt.conf.d/ && \ From 66f74cd5810243b278b2caa05ebcbecd2072e882 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 9 Oct 2020 16:57:23 -0700 Subject: [PATCH 26/61] Update Future Work with alterative pros and cons --- doc/continuous_integration/README.md | 41 ++++++++++++++++++++++------ 1 file changed, 33 insertions(+), 8 deletions(-) diff --git a/doc/continuous_integration/README.md b/doc/continuous_integration/README.md index bf69354e18..1451399719 100644 --- a/doc/continuous_integration/README.md +++ b/doc/continuous_integration/README.md @@ -2,11 +2,11 @@ Documentation on the existing CI for the project is resides here. ## Overview -The existing CI is composed of multiple integration services that together help provide maintainers a fast and scalable testing environment. To help detect upstream breakages quickly as well, the existing CI allows for changes to be evaluated using the latest development dependencies. In light of the large dependency footprint a high-level ROS2 navigation stack necessitates, the use of each integration service is optimized to maximize caching of environmental setup and increase workflow throughput. As these optimizations add complexity to the CI configuration, this documentation provides further explanations and resigning behind each configuration. +The existing CI is composed of multiple integration services that together help provide maintainers a fast and scalable testing environment. To help detect upstream breakages quickly as well, the existing CI allows for changes to be evaluated using the latest development dependencies. In light of the large dependency footprint a high-level ROS2 navigation stack necessitates, the use of each integration service is optimized to maximize caching of environmental setup and increase workflow throughput. As these optimizations add complexity to the CI configuration, this documentation provides further explanations and reasoning behind each configuration. ![pipeline](figs/pipeline.png) -The figure above is an high level diagram on how the integration services described below are composed. +The figure above is a high level diagram on how the integration services described below are composed. ## Integrations @@ -34,9 +34,34 @@ CodeCov is used to help monitor code quality by rendering test artifacts from th ## Future Work -The CI has some room for improvement and streamlining and may evolve over time. The following notes alterative integration options, as the current pros and cons for each. - -### GitHub Actions -* test result reports -* workspace caching -* uploading artifacts \ No newline at end of file +The CI has room for improvement and may still evolve over time. The following notes alterative integration options, including current pros and cons for each. + +### [GitHub Actions](https://github.com/features/actions) + +Github actions is an emerging container based CI service that tightly integrates with the rest of GitHub's service offerings. With a growing ecosystem of official and federated 3rd party actions available, one can compose custom and extensive CI/CD workflows. + +#### Pros: + +* Self hosted runners + * Optionally run workflows form on site, not just cloud VMs + * https://docs.github.com/en/free-pro-team@latest/actions/hosting-your-own-runners + * Leverage local hardware, e.g: GPUs, persistent storage, robot sensors, etc. + +#### Cons: + +* No test introspection + * One must still roll there own test result reporting + * https://github.community/t/publishing-test-results/16215/12 + * Xunit test results are not rendered, aggregated, nor summarized +* Restricted caching + * Caching with runners is less ergonomic than other CI providers + * https://github.com/microsoft/azure-pipelines-agent/issues/2043 + * Implementation inherits same limitation from azure-pipelines-agent +* No job level parallelism + * No equivalent parallelism for splitting tests via timing data + * https://circleci.com/docs/2.0/parallelism-faster-jobs + * Parameterizable parallelism without adding jobs to workflow +* No RAM Disk access + * Useful to improve file IO performance + * https://circleci.com/docs/2.0/executor-types/#ram-disks + * Applicable for frequent reads/writes, e.g. ccache From 74d88164faf6ef468224927015065bd5e4292c0c Mon Sep 17 00:00:00 2001 From: ruffsl Date: Fri, 9 Oct 2020 23:57:45 -0700 Subject: [PATCH 27/61] Update pipeline figure --- doc/continuous_integration/README.md | 2 +- .../figs/pipeline.drawio | 50 ++++++++++-------- doc/continuous_integration/figs/pipeline.png | Bin 120366 -> 0 bytes doc/continuous_integration/figs/pipeline.svg | 1 + 4 files changed, 31 insertions(+), 22 deletions(-) delete mode 100644 doc/continuous_integration/figs/pipeline.png create mode 100644 doc/continuous_integration/figs/pipeline.svg diff --git a/doc/continuous_integration/README.md b/doc/continuous_integration/README.md index 1451399719..8d03d06665 100644 --- a/doc/continuous_integration/README.md +++ b/doc/continuous_integration/README.md @@ -4,7 +4,7 @@ Documentation on the existing CI for the project is resides here. ## Overview The existing CI is composed of multiple integration services that together help provide maintainers a fast and scalable testing environment. To help detect upstream breakages quickly as well, the existing CI allows for changes to be evaluated using the latest development dependencies. In light of the large dependency footprint a high-level ROS2 navigation stack necessitates, the use of each integration service is optimized to maximize caching of environmental setup and increase workflow throughput. As these optimizations add complexity to the CI configuration, this documentation provides further explanations and reasoning behind each configuration. -![pipeline](figs/pipeline.png) +![pipeline](figs/pipeline.svg) The figure above is a high level diagram on how the integration services described below are composed. diff --git a/doc/continuous_integration/figs/pipeline.drawio b/doc/continuous_integration/figs/pipeline.drawio index 173764f25a..c17b258c28 100644 --- a/doc/continuous_integration/figs/pipeline.drawio +++ b/doc/continuous_integration/figs/pipeline.drawio @@ -1,6 +1,6 @@ - + - + @@ -30,17 +30,28 @@ - - + + + + - - + + + + - - + + + + - - + + + + + + + @@ -64,7 +75,7 @@ - + @@ -82,7 +93,7 @@ - + @@ -235,8 +246,10 @@ - - + + + + @@ -247,13 +260,8 @@ - - - - - - - + + diff --git a/doc/continuous_integration/figs/pipeline.png b/doc/continuous_integration/figs/pipeline.png deleted file mode 100644 index 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Code Coverage...Viewer does not support full SVG 1.1 \ No newline at end of file From 45ecd7b66b9b13028e1555dbdc7111ecd01100aa Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sat, 10 Oct 2020 01:04:31 -0700 Subject: [PATCH 28/61] Add section on Advanced Optimizations --- doc/continuous_integration/dockerfile.md | 29 +++++++++++++++++++++++- 1 file changed, 28 insertions(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 937d3b9275..9c2f4a9003 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -13,7 +13,7 @@ The Dockerfiles for this project are built upon parent images from upstream repo * GitHub repo for OSRF Dockerfiles * [Official Images on Docker Hub](https://docs.docker.com/docker-hub/official_images) -While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a released ROS2 distro using available pre-built binary dependencies. We'll walk through the main Dockerfile here, although all of them follow the same basic pattern. +While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a released ROS2 distro using available pre-built binary dependencies. These are particularly helpful when needing to build/test the project using a custom branch of ROS2 or rolling distro release. We'll walk through the main Dockerfile here, although all of them follow the same basic pattern. ## Global Arguments @@ -91,3 +91,30 @@ The [`distro.Dockerfile`](/.dockerhub/distro.Dockerfile) provides once such exam * [cache apt packages](https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/experimental.md#example-cache-apt-packages) * avoid unnecessarily re-downloading the same packages over the network, even if the docker image layer cache for that `RUN` directive in the Dockerfile is busted + +### Advanced Optimizations + +With Buildkit's concurrent dependency resolution, multistage builds become parallelizable, assisting in shorter over all image build times. Granular expansion of the Directed Acyclic Graph (DAG) of workspace build steps into septate stages can be used to exploit this parallelism further, as well to maximize caching. This is exemplified in [`source.Dockerfile`](/.dockerhub/source.Dockerfile). The figure bellow depicts how the multiple stages are composed to exploit the DAG of workspaces. + +![pipeline](figs/multistage.svg) + +This composition of stages follows a few basic principles: + +* Enforce Determinism + * Filter workspace source files down to what's essential + * E.g. `cacher` stage prunes underlay packages irrelevant for overlays +* Maximize Caching + * Leverage dependency build order when forming DAG + * E.g. prevent `builder` stages from invalidating `depender` stages +* Optimize Layers + * Lazily COPY and build FROM other stages as by-need + * E.g. Avoid dependencies between `tester` stages to build in parallel + +The table below is compares the finish build times between sequential (one stage one at a time) and multistage (many stages at once) builds, with and without caching (a warm and valid cache available). + +| | w/o Caching | w/ Caching | +|---|---|---| +| Sequential Build | 1h:22m:38s | 0h:49m:30s | +| Multistage Build | 0h:53m:49s | 0h:27m:44s | + +For reference, Sequential Build without Caching is equivalent to building a dockerfile without the use of multistages nor Buildkit. From 6ff1edcf07357c4cd42629897841406b281e23b0 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sat, 10 Oct 2020 01:31:24 -0700 Subject: [PATCH 29/61] Update pipline figure to include encap workflow pattern inside build cloud proccess, and relable outputs --- .../figs/pipeline.drawio | 108 ++++++++++-------- doc/continuous_integration/figs/pipeline.svg | 2 +- 2 files changed, 64 insertions(+), 46 deletions(-) diff --git a/doc/continuous_integration/figs/pipeline.drawio b/doc/continuous_integration/figs/pipeline.drawio index c17b258c28..4dcacdf857 100644 --- a/doc/continuous_integration/figs/pipeline.drawio +++ b/doc/continuous_integration/figs/pipeline.drawio @@ -1,9 +1,12 @@ - + - + + + + @@ -45,10 +48,10 @@ - + - + @@ -118,10 +121,13 @@ - + - + + + + @@ -130,7 +136,7 @@ - + @@ -144,41 +150,14 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - - + + @@ -186,7 +165,7 @@ - + @@ -194,25 +173,25 @@ - + - + - + - + - + @@ -228,6 +207,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -260,9 +275,12 @@ - + + + + diff --git a/doc/continuous_integration/figs/pipeline.svg b/doc/continuous_integration/figs/pipeline.svg index cf4be6abee..cf26a99a04 100644 --- a/doc/continuous_integration/figs/pipeline.svg +++ b/doc/continuous_integration/figs/pipeline.svg @@ -1 +1 @@ -DockerHub
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Release...Viewer does not support full SVG 1.1 \ No newline at end of file From a3372b4f57d97ea34d3dac5041465e48afe980b7 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sat, 10 Oct 2020 01:48:56 -0700 Subject: [PATCH 30/61] Add more comment on tags and image purpose --- doc/continuous_integration/dockerfile.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 9c2f4a9003..6719cf5d3a 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -1,11 +1,11 @@ # Dockerfile Documentation -Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provide repeatable and reproducible means to build and test the project. Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: +Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provide repeatable and reproducible means to build and test the project, as well as pre configured environment for container based services further downstream the CI pipeline. Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: * [Dockerfile reference](https://docs.docker.com/engine/reference/builder) * [Best practices for writing Dockerfiles](https://docs.docker.com/develop/develop-images/dockerfile_best-practices) -The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub, thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. More info on upstream repos on DockerHub can be found here: +The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub, thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. When choosing the parent image, a tradeoff may persist between choosing a larger tag with more than what you need pre-installed, saving time building the image locally, vs. choosing a smaller tag without anything you don't need, saving time pulling or pushing the image remotely. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. More info on upstream repos on DockerHub can be found here: * [ROS Docker Images](https://hub.docker.com/_/ros) * DockerHub repo for official images From 452382c3925e2b017c5d510ceba1a2e07462af8c Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sat, 10 Oct 2020 01:59:00 -0700 Subject: [PATCH 31/61] Clarify dockerifle in .dockerhub folder --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 6719cf5d3a..074413de1e 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -13,7 +13,7 @@ The Dockerfiles for this project are built upon parent images from upstream repo * GitHub repo for OSRF Dockerfiles * [Official Images on Docker Hub](https://docs.docker.com/docker-hub/official_images) -While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a released ROS2 distro using available pre-built binary dependencies. These are particularly helpful when needing to build/test the project using a custom branch of ROS2 or rolling distro release. We'll walk through the main Dockerfile here, although all of them follow the same basic pattern. +While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for development and continuous integration, the [`.dockerhub/`](/.dockerhub) directory contains additional Dockerfiles that can be used for building the project entirely from scratch, include the minimal spanning set of recursive ROS2 dependencies from source, or building the project from a released ROS2 distro using available pre-built binary dependencies. These are particularly helpful for developers needing to build/test the project using a custom ROS2 branch, or for a users building with an alternate ROS2 base image, but are not used for the CI pipeline. We'll walk through the main Dockerfile here, although all of them follow the same basic pattern. ## Global Arguments From b26ceddcc046a090201b9efed44cfcd20be5c4c5 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 11 Oct 2020 20:43:02 -0700 Subject: [PATCH 32/61] Update DockerHub docs now using api rather than autobuild for triggering build rules --- doc/continuous_integration/dockerhub.md | 35 +++++++++++++++---------- 1 file changed, 21 insertions(+), 14 deletions(-) diff --git a/doc/continuous_integration/dockerhub.md b/doc/continuous_integration/dockerhub.md index 9e24d7dd2a..d94c051b6b 100644 --- a/doc/continuous_integration/dockerhub.md +++ b/doc/continuous_integration/dockerhub.md @@ -5,7 +5,7 @@ DockerHub is a service used to build docker images from the project's Dockerfile * [DockerHub](https://hub.docker.com/) * [Docker Hub Quickstart](https://docs.docker.com/docker-hub) -The tagged images on the project's repo in the registry are used by the CI pipeline to spawn containers to build and test the project. The advantage of hosting such images in a registry to readly pull from rather than merely re-building the Dockerfiles in CI tests enables frontloading much of the principled environmental setup prior to the start of CI jobs. This saves build time, spares resources/credits for other jobs, and helps to accelerate the development cycle. The project's DockerHub repo can be found here: +The tagged images in the project's registry repo are eventually used by the CI pipeline to spawn containers to build and test the project. The advantage of hosting branch specific image tags in a registry to pull from, rather than merely re-building the Dockerfiles at CI runtime, enables frontloading much of the principled environmental setup prior to the start of CI jobs. This saves CI time, spares resources/credits for other jobs, and helps to accelerate the development cycle. The project's DockerHub repo can be found here: * [Navigation2 on DockerHub](https://hub.docker.com/r/rosplanning/navigation2) @@ -14,27 +14,21 @@ While DockerHub does not require the use of configuration files in the source re * [How Automated Builds work](https://docs.docker.com/docker-hub/builds) * [Advanced options for Autobuild and Autotest](https://docs.docker.com/docker-hub/builds/advanced) -Automated Builds must be enabled via the build configurations menu within the repo's administrative console on DockerHub. For reference, a figure of the project's build configurations is shown here: +Automated Builds are controlled via the build configurations menu within the repo's administrative console on DockerHub. For reference, a figure of the project's build configurations is shown here: ![DockerHub Build Configurations](figs/dockerhub_build_configurations.png) -Here the repo's source repository is linked to the project's GitHub repo, while Autotest is disabled given a dedicated CI service is separately used to run test jobs. Repository linking is enabled so that whenever the base image is updated on DockerHub, it will also trigger a build for the project's DockerHub repository. Note that this only works for non-official images. Two build rules are added for the master branch, providing both a release and debug tag for CI to pull from. The paths to the relative Dockerfiles are designated, while the build context is intentionally left empty. This ensures that the build phase hooks within the same paths are used appropriately. Build caching is also enabled to shorten image turnaround time if multiple rebuilds a day are triggered. +Here the repo's source repository is linked to the project's GitHub repo, while Autotest is disabled given a dedicated CI service is separately used to run test jobs. Repository linking can be used so that whenever a parent image repo is updated on DockerHub, it will also trigger a build for the project's DockerHub repository. Note that this only works for non-official library images, and only for build rules where Autobuild is is enabled. Two build rules are added for the main branch, providing both a release and debug tag for CI to pull from. The relative Dockerfiles paths are designated, while the build context is intentionally left empty, ensuring the build phase hooks within the same paths are used appropriately. Build caching is also enabled to shorten image turnaround time if multiple rebuilds a day are triggered. -The build hooks, e.g. [build](/.dockerhub/debug/hooks/build) , serve a few purposes. The first being to customize docker commands to override build arguments denoted in the Dockerfile via the `ARG` directives, such as adjusting the colcon mixins for each workspace to enable code coverage, or disabling fail on build failure so the breakages in master don't block the building of CI images for master. +The build hooks, e.g. [build](/.dockerhub/debug/hooks/build) , are for customizing docker build arguments in the Dockerfile via the `ARG` directives; such as changing the base `FROM_IMAGE` between release or debug tags, adjusting the colcon mixins for each workspace to enable code coverage, or disabling fail on build failure, preventing source build breakages from blocking CI image tag updates. This also allows the slower debug CI to build and test only using the default RMW, while allowing the faster release CI jobs to build and test from an image with more RMWs installed. -The build hooks secondly allow for the redirection of target Dockerfile and build context, given the use of `ARG` to parameterize the parent image to build `FROM` inhibits the normal use of repository links. This is a limitation of the Dockerfile parsing used by DockerHub to infer what repo/tag the build rule should trigger from. +## Autobuild -As a workaround, the build rule points to a dummy Docker file that includes the desired parent image tag to build `FROM`, while the build hook then uses the main Dockerfile with the same `FROM_IMAGE`. This allows the slower debug CI to build and test only using the default RMW, while allowing the faster release CI jobs to build and test from an image with more RMWs installed. - -## Alternatives - -While the free registry for hosting is great, allowing project gigabytes of free storage/bandwidth to cache pre-configured images for various branches or CI scenario, that would otherwise take free tier CI instances far longer to rebuild from scratch rather than pull from registry, the automated build integration isn't as easily configurable for advance use cases. Also, given that automated build rules are configured out-of-band of the source repo for example, forking the project would not self contain all the configuration needed to simply mirror the CI setup. - -There are a few alternatives such as triggering builds via APIs or building the images remotely from different CI providers and pushing them back to docker registry. Although each has its pros and cons. +While the free registry for hosting is great, allowing projects gigabytes of free storage/bandwidth to cache pre-configured images for various branches or CI scenarios, that would otherwise take CI instances far longer to rebuild from scratch rather than pull from the registry, the automated build integration for DockerHub is basic. Rather than trigging build rules via pushed commits to matching GitHub branches, Autobuild is left disabled and the Build Trigger API is used instead. This Build Trigger API is evoked from scheduled cron jobs to rate limit DockerHub rebuilds; e.g. preventing hourly merge commits from needlessly churning CI image tags. ### Build Trigger API -Rather than configuring the build rules on DockerHub, a build trigger URL can be generated for the linked repo and used to programmatically specify build parameters such as: tag names, context path, source branch or version, etc. Although it seems this API is now less documented. More info on Build Trigger can be found here: +Rather than configuring the build rules on DockerHub, a build trigger URL can be generated for the linked repo and used to programmatically specify build parameters such as: tag names, context path, source branch or version, etc. More info on Build Trigger can be found here: * [Remote Build Triggers](https://github.com/docker/docker.github.io/blob/v17.06-release/docker-hub/builds.md#remote-build-triggers) * Legacy docs on using build triggers @@ -43,7 +37,9 @@ Rather than configuring the build rules on DockerHub, a build trigger URL can be * [Example Build Hook](https://github.com/osrf/docker_images/blob/master/ros2/nightly/nightly/hooks/post_push) * A hook to rebuild a child image post push or parent tag -However, triggering builds via API rather than relying on the DockerHub build rules also means forgoing the convenience of repository linking, where a repo's image can be sure to be rebuilt as soon as a new version of the parent image tag is pushed to the registry without needing to monitor the parent image repos oneself. This helps keep the CI environment uptodate and in sync with upstream development. +However, triggering builds via the API rather than relying on the DockerHub build rules also means forgoing the convenience of repository linking, where a repo's image can be sure to be rebuilt as soon as a new version of the parent image tag is pushed to the registry without needing to monitor the parent image repos oneself. This helps keep the CI environment uptodate and in sync with upstream development. However, for finer control flow when triggering DockerHub build rules, this API can be called from any scheduled cron job to periodically update images when a project is least active. + +## Alternatives ### Outsource Image Builds @@ -55,3 +51,14 @@ Instead of using DockerHub as the remote builder, any CI that supports Docker ca * [Docker + Azure Tasks](https://docs.microsoft.com/en-us/azure/devops/pipelines/tasks/build/docker?view=azure-devops#build-and-push) Additionally, local build caching is often a premium feature for most other services, thus to benefit from docker build caching, one must manage a build agent for docker builds, or pony up to upgrade from a conventional open source free tier CI plan. + +### Alternate Docker Registry + +In addition to DockerHub, one can also self host a docker registry, or use alternate Docker Registry providers. This may be helpful if you anticipate exceeding DockerHub's free tier limits or would like co-locate the docker registry and CI runners within the same service provider or local network. + +* [DockerHub Download rate limit](https://docs.docker.com/docker-hub/download-rate-limit/) +* [Self Hosted Registry](https://docs.docker.com/registry/) +* [GitHub Cloud Registry](https://github.com/features/packages) +* [AWS Elastic Container Registry](https://aws.amazon.com/ecr/) +* [Google Cloud Registry](https://cloud.google.com/container-registry) +* [GitLab Container Registry](https://about.gitlab.com/blog/2016/05/23/gitlab-container-registry/) From 5ee07086caa490ae4101ec0925b5318126278cd0 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 11 Oct 2020 20:43:47 -0700 Subject: [PATCH 33/61] Re-Wording --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 074413de1e..d3aef7cb1a 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -1,6 +1,6 @@ # Dockerfile Documentation -Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provide repeatable and reproducible means to build and test the project, as well as pre configured environment for container based services further downstream the CI pipeline. Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: +Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provides repeatable and reproducible means to build and test the project, as well as build images for running container based CI services. Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: * [Dockerfile reference](https://docs.docker.com/engine/reference/builder) * [Best practices for writing Dockerfiles](https://docs.docker.com/develop/develop-images/dockerfile_best-practices) From bdba1c202eddf15a5504d0497b05b29e10155607 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 11 Oct 2020 20:44:35 -0700 Subject: [PATCH 34/61] Update DockerHub screencap --- .../figs/dockerhub_build_configurations.png | Bin 184321 -> 166934 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/doc/continuous_integration/figs/dockerhub_build_configurations.png b/doc/continuous_integration/figs/dockerhub_build_configurations.png index e48736fd61f7f6ec095c21c3609a28e592f65584..34023d63dadcce9b07221a2a2e4fdd0e751fa403 100644 GIT binary patch literal 166934 zcmd?Qhg(zWy6_D;$P5fHGYUv&j|Gt?g7l)pD4i%Ey(m?B?<7GPMS2INij>ep?<6Wh 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z-R>A`p?`&%wl&jz_BeWKs^bXxGNLy7$TLPCh7oh@B1i`$8e8*6|GCKbi^oV^Z~c#I*B z)fqR=#IdeTGjoCUHN75l>I&;j_s9kL)lJRBIBcC(fkmXfp5#G_It23z% zxpAq|Ct2Q&+kobJ`dKq6KZ4Fm)Yh4b1_deq=czZh*p>>S;4l}8n25@k;%1x*ewD|!nBqViI_VqU`x<3~z^TWF>Hvy;$KJS7f zwMHrz;fDc^j>99M-_?-_78bCR{}K+z z-&*NYwy>}b5U(_TT3jgwt|(5;O(!m}<)9b$y2butWD$oia4n%=9{xwCD|GF`8ruR& UaK$ida4|eTSfKZ#pQ3*I8z(7`h5!Hn From 937c4fe92fbc9cbdc99340330e1df45141a3eb5f Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 11 Oct 2020 22:53:57 -0700 Subject: [PATCH 35/61] Update circleci to reflect latest changes --- doc/continuous_integration/circleci.md | 27 ++++++++++++-------------- 1 file changed, 12 insertions(+), 15 deletions(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index 4077180b65..04590418ab 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -1,6 +1,6 @@ # CircleCI Documentation -CircleCI is a service used to build and test the project's codebase to catch regressions as well as to check pull request submissions. Using continuous integration helps maintainers sustain high code quality while providing external contributors a well defined evaluation method with which to polish contributions, without even needing to stand up entire development environment locally. More info on CircleCI can be found here: +CircleCI is a service used to build and test the project's codebase to catch regressions as well as to check pull request submissions. Using continuous integration helps maintainers sustain high code quality while providing external contributors a well defined evaluation method with which to validate contributions, even without having to setup a local development environment. More info on CircleCI can be found here: * [CircleCI](https://circleci.com/) * [Navigation2 on CircleCI](https://circleci.com/gh/ros-planning/navigation2) @@ -10,22 +10,22 @@ For this particular CI, Docker is used to build and test the project within cont * [Dockerfile](dockerfile.md) * [DockerHub](dockerhub.md) -CircleCI is configured via the [config.yml](/.circleci/config.yml) yaml file within the `.circleci/` folder at the root of the GitHub repo. The config file for this project is self-contained and thus densely structured, yet written in a functional style to remain DRY and modular. This keeps it easily generalizable for other ROS packages or for adjusting overlayed workspaces. Given the anchors and references in yaml, it's consequently best approached by reading the config file from bottom to top in order of abstraction hierarchy. Further references on configuring CircleCI, such as syntax and structure can be found here: +CircleCI is configured via the [config.yml](/.circleci/config.yml) yaml file within the `.circleci/` folder at the root of the GitHub repo. The config file for this project is self-contained and thus densely structured, yet written in a functional style to remain DRY and modular. This keeps it easily generalizable for other ROS packages or for adjusting overlayed workspaces. Despite the anchors and references in yaml, the config file is best approached in reverse, from bottom to top in order of abstraction hierarchy, while reading this accompanied document. Further references on CircleCI configurations, such as syntax and structure can be found here: * [Writing YAML](https://circleci.com/docs/2.0/writing-yaml) * [Configuring CircleCI](https://circleci.com/docs/2.0/configuration-reference) ## Workflows -The CI config consists of two main [workflows](https://circleci.com/docs/2.0/configuration-reference/#workflows). One workflow is for checking PR events, essentially triggered by any pushed commits towards the repo, by building and testing the project both in release and debug mode for accurate performance benchmarking or generating test coverage results. The second is cron scheduled to check the main repo branches daily, while additionally testing a matrix of supported RMW vendors not normally tested within day-to-day PRs. This helps prioritize CI to quickly check new contributions, while simultaneously keeping tabs on the health of existing code. +The CI config consists of three main [workflows](https://circleci.com/docs/2.0/configuration-reference/#workflows). One workflow is for checking PR events, essentially triggered by any pushed commits targeting the main branch, by building and testing the project both in release and debug mode for accurate performance benchmarking or generating test coverage results. The second is nightly cron scheduled to check the main branch, while additionally testing a matrix of supported RMW vendors not tested on normal PRs. This helps prioritize CI to quickly check new contributions, while simultaneously keeping tabs on the health of existing code. The third is another cron for updating CI image builds on DockerHub, and is scheduled to finish prior to the nightly workflow. This reduces the chance of updating CI images while a CI workflow is in progress. -The order in which jobs are executed is conditional upon the completion of those is [requares](https://circleci.com/docs/2.0/configuration-reference/#requires), forming a conventional direct acyclic graph of dependent jobs. Unrelated jobs may of course be parallelized in the CI pipeline; so by splitting the build and test jobs in two, multiple jobs such as the matrix of RMW tests may commence as soon as the dependent build job completes, avoiding unnecessarily re-building the same codebase for each RMW vendor. +The order in which jobs are executed is conditional upon the completion of those it [requires](https://circleci.com/docs/2.0/configuration-reference/#requires), forming a conventional directed acyclic graph of dependent jobs. Independent jobs may of course be parallelized in the CI pipeline; so by splitting the build and test jobs in two, multiple test jobs, such as the matrix of RMW tests, may commence as soon as the dependent build job completes, avoiding unnecessarily re-building the same codebase for each RMW vendor. ## Jobs The list of [jobs](https://circleci.com/docs/2.0/configuration-reference/#jobs) referenced within the workflows consist of either release or debug build/test jobs. These jobs are largely similar with the exception of using different executors, and that debug test jobs include additional command steps for reporting code coverage analytics. The build jobs simply checkout the project, set up the build environment, and compile the project. The test jobs in turn pick up from where the build job left off by restoring the build, and then running the test on that build. -In addition to enabling the parallelization of different types of test jobs, the bifurcation build and test jobs enables efficiently controlling the [parallelism](https://circleci.com/docs/2.0/configuration-reference/#parallelism) within each job itself, leveraged later for test splitting. However, given the workspace caching and principled builds, parallelism within build jobs is not as easily applied nor justified, thus parallelism here is applied only to testing. +In addition to enabling parallelism between independent jobs, the bifurcation build and test job types enables [parallelism](https://circleci.com/docs/2.0/configuration-reference/#parallelism) within each test job, leveraged later for splitting longer tests across multiple containers for that job. Given packages independencies, container parallelism for build jobs is not as easily applicable, and thus only used for testing. ## Executors @@ -37,19 +37,19 @@ The executors also differ by a few environment variables. These include appropri To reuse sequences of steps across multiple jobs, a number of [commands](https://circleci.com/docs/2.0/configuration-reference/#commands-requires-version-21) are defined. In addition to a few common commands for abstracting lower level tasks as a function, a number of higher level commands are also recursively composed of smaller formulaic steps. -When checking our source code from the repo, additional pre and post checkout steps are performed to prepare the file system. When setting up dependencies, the build is prepared much the same way as in the project Dockerfile, by first setting up the underlay and then the overlay workspace. Additional steps are included for restoring and resetting previous ccache files and statistics, including a few diagnostic steps that can be used for debugging the CI itself, e.g. investigating as to why the hit rate for ccache may be abnormally low. Once the overlay setup is finished, more ccache diagnostics and files are saved for inspection or later restoration. A restore build command is also defined for test jobs, operating under the condition that a workspace with the same checksum can be restored from a previous build job in the workflow. Additional commands are also defined for steps in testing overlay workspace and reporting coverage results. +When checking our source code from the repo, additional pre and post checkout steps are performed to prepare the file system. When setting up dependencies, the build is prepared much the same way as in the project Dockerfile, by first setting up the underlay and then the overlay workspace. Additional steps are included for restoring and resetting previous ccache files and statistics, including a few diagnostic steps that can be used for debugging the CI itself, e.g. investigating as to why the hit rate for ccache may be abnormally low. Once the overlay setup is finished, more ccache diagnostics and files are saved for inspection or later restoration. A restore build command is also defined for test jobs, operating under the condition that a workspace with the same checksum can be restored from a previous build job in the workflow. Additional commands are also defined for steps in testing the overlay workspace and reporting coverage results. ## References -Per the YAML syntax, a reference must proceed any anchor that it links back to. As a formality, all references are merely prefaced and organized under the key titled `references`. +Per the YAML syntax, a reference must proceed any anchor that it links back to. Stylistically, any root level keys declared that only include references are denoted with an underscore (`_`) prefixed to help distinguish them from keys expected by the CircleCI config schema. ### Common Environment For environment variables common among the executors, workspace paths and specific config options are listed here. While the workspace paths are parameterized to avoid hardcoding paths in common command functions, they may also be hardcoded as fields among a few high level steps given a limitation of the config syntax. The additional config options help optimize our project build given CI resource limits: * Capping ccache size/location given CI storage limits, speeding up cache restoration -* Limiting parallel make and linker jobs as to avoid exhausting all un-allocated RAM -* Further adjustments for changing robust test behavior and sequential test stdout. +* Limiting parallel make and linker jobs as to avoid exhausting container's RAM +* Further adjustments for changing test behavior and sequential test stdout. ### Common Commands @@ -85,18 +85,15 @@ The overlay workspace is then cleaned prior to checking out the project. The pos ### Workspaces -The rest of the high level commands serve as references to repeatedly define workspace specific commands, such as install, building and testing either the underlay or overlay workspace. Some point of note however include: +The rest of the high level commands serve as references to repeatedly define workspace specific commands, such as install, building and testing either the underlay or overlay workspace. Some points of note however include: * The CI cache for ccache is intentionally linked with the underlay rather than the overlay workspace * so that consecutive commits to the same PR are more likely to retain a warm and recent ccache * CCache Stats is intentionally used to zero stats before building a workspace * so the next consecutive run of the CCache Stats reflects only upon that given workspace -* Restore workspace command intentionally sets the `build` filed to `false` +* Restore workspace command intentionally sets the `build` parameter to `false` * to avoid unnecessary duplication of the same workspace cache and build logs ### Code Coverage -A custom script within the repo is reused to collect and post process the generated code coverage results from debug test jobs. This always runs regardless if the tests fail so that failed code coverage reports may still be reviewed. The final report is uploaded to CodeCov via the third party orb. Note that the use of a third party orb requires the enabling of a permission in CircleCI settings for the repo. So if you would like to upload code coverage results for your own fork, you'll have to explicitly allow it. - -* [CodeCov Orb](https://circleci.com/orbs/registry/orb/codecov/codecov) -* [Orbs Introduction](https://circleci.com/docs/2.0/orb-intro) +A custom script within the repo is reused to collect and post process the generated code coverage results from debug test jobs. This always runs regardless if the tests fail so that failed code coverage reports may still be reviewed. The final report is uploaded to CodeCov. From 11cbe2686ab7d5d119c9c3476f830645e7788b64 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 11 Oct 2020 23:25:57 -0700 Subject: [PATCH 36/61] Reorder steps and commands refrences to match config --- doc/continuous_integration/circleci.md | 38 ++++++++++++++------------ 1 file changed, 21 insertions(+), 17 deletions(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index 04590418ab..cc656a5cae 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -35,15 +35,15 @@ The executors also differ by a few environment variables. These include appropri ## Commands -To reuse sequences of steps across multiple jobs, a number of [commands](https://circleci.com/docs/2.0/configuration-reference/#commands-requires-version-21) are defined. In addition to a few common commands for abstracting lower level tasks as a function, a number of higher level commands are also recursively composed of smaller formulaic steps. +To reuse sequences of steps across multiple jobs, a number of [commands](https://circleci.com/docs/2.0/configuration-reference/#commands-requires-version-21) are defined. When checking our source code from the repo, additional pre and post checkout steps are performed to prepare the file system. When setting up dependencies, the build is prepared much the same way as in the project Dockerfile, by first setting up the underlay and then the overlay workspace. Additional steps are included for restoring and resetting previous ccache files and statistics, including a few diagnostic steps that can be used for debugging the CI itself, e.g. investigating as to why the hit rate for ccache may be abnormally low. Once the overlay setup is finished, more ccache diagnostics and files are saved for inspection or later restoration. A restore build command is also defined for test jobs, operating under the condition that a workspace with the same checksum can be restored from a previous build job in the workflow. Additional commands are also defined for steps in testing the overlay workspace and reporting coverage results. -## References +# References Per the YAML syntax, a reference must proceed any anchor that it links back to. Stylistically, any root level keys declared that only include references are denoted with an underscore (`_`) prefixed to help distinguish them from keys expected by the CircleCI config schema. -### Common Environment +## Common Environment For environment variables common among the executors, workspace paths and specific config options are listed here. While the workspace paths are parameterized to avoid hardcoding paths in common command functions, they may also be hardcoded as fields among a few high level steps given a limitation of the config syntax. The additional config options help optimize our project build given CI resource limits: @@ -51,11 +51,23 @@ For environment variables common among the executors, workspace paths and specif * Limiting parallel make and linker jobs as to avoid exhausting container's RAM * Further adjustments for changing test behavior and sequential test stdout. -### Common Commands +## Steps + +Low level steps, defined prior to the job commands where they are used, are recursively defined from more functional common commands. + +### Checkout + +Checking out code consists of three stages, including pre and post checkout steps. To simplify the formulaic common commands above, the pre-checkout step replicates a synthetic workspace from the installed ROS distro directory by symbolically linking an install folder, and bootstrapping the checksum from the timestamp of an expected file in ROS docker images. This is a measure to ensure if the nightly docker image is changed/rebuilt, then all CI caches should also be busted. Ideally, the docker image sha/hash should be used for this instead, but as of writing there does not seem to be a reliable method for acquiring this image digest from within the same derived container: + +* [Introspect image info from inside docker executor](https://discuss.circleci.com/t/introspect-image-info-from-inside-docker-executor/31620) + +The overlay workspace is then cleaned prior to checking out the project. The post checkout step simply checks to see if the underlay has changed to determine whether it should also be cleaned, recloned, and thus rebuilt as well. + +## Common Commands Common commands for low level, repeated, and formulaic tasks are defined for saving and restoring CI caches, as well as for installing, building, and testing workspaces. -#### Caching +### Caching Multiple forms of [caching](https://circleci.com/docs/2.0/caching/) is done over the completion of a single workflow. To appropriately save and restore caches in a deterministic manner, these steps are abstracted as commands. Although CircleCI does provide an explicit step for persisting temporary files across jobs in the same workflow, i.e. a [workspace](https://circleci.com/docs/2.0/configuration-reference/#persist_to_workspace), caches are used instead for a few reasons. First there is only one workspace per workflow, thus avoiding cross talk between executors or release/debug job types is not as easily achievable. Secondly, unlike workspaces, caches can persist across workflows, permitting repeated workflows for the same PR to pull from the cache of prior runs; e.g. in order to keep the ccache as fresh as possible for that specific PR. @@ -65,25 +77,17 @@ For saving a cache, the command is similar, aside from specifying the path to di These workspace checksums are uploaded as [stored artifacts](https://circleci.com/docs/2.0/configuration-reference/#store_artifacts) throughout other commands to help introspect to debug caching behavior when needed. -#### Building +### Building For installing and building workspaces, the process resembles that within the project Dockerfile. Additional bookkeeping is performed to update the workspace checksum file by piping stdout that deterministically describes the state of the build environment. This is done by seeding from the checksum of the underlay workspace and then appending info about source code checked out into the overlay workspace, as well as the list of required dependencies installed. When setting up the workspace, this checksum will first be used to check if the workspace can be restored from a prior workflow build. If the source code or required dependencies change, resulting in a missed cache hit, the unfinished workspace is then built. If the workspace build is successful then it will be cached. Regardless however, the build logs are always uploaded as stored artifacts for review or debugging. The odd shuffling of symbolic directories is done as a workaround given a limitation of the S3 SDK: * [Failing to upload artifacts from symbolic link directories](https://discuss.circleci.com/t/failing-to-upload-artifacts-from-symbolic-link-directories/28000) -#### Testing +### Testing For testing workspaces, the list of packages within the workspace are [tested in parallel](https://circleci.com/docs/2.0/parallelism-faster-jobs/) across the number of replicated containers for the given test job as denoted by the `parallelism` option. Here packages are split by anticipated test timing; the heuristic derived from the reported duration and classname of prior recent test results. The logs and results from the tests are then always [reported](https://circleci.com/docs/2.0/configuration-reference/#store_test_results) and uploaded. -### Checkout - -Checking out code consists of three stages, including pre and post checkout steps. To simplify the formulaic common commands above, the pre-checkout step replicates a synthetic workspace from the installed ROS distro directory by symbolically linking an install folder, and bootstrapping the checksum from the timestamp of an expected file in ROS docker images. This is a measure to ensure if the nightly docker image is changed/rebuilt, then all CI caches should also be busted. Ideally, the docker image sha/hash should be used for this instead, but as of writing there does not seem to be a reliable method for acquiring this image digest from within the same derived container: - -* [Introspect image info from inside docker executor](https://discuss.circleci.com/t/introspect-image-info-from-inside-docker-executor/31620) - -The overlay workspace is then cleaned prior to checking out the project. The post checkout step simply checks to see if the underlay has changed to determine whether it should also be cleaned, recloned, and thus rebuilt as well. - -### Workspaces +## Workspaces The rest of the high level commands serve as references to repeatedly define workspace specific commands, such as install, building and testing either the underlay or overlay workspace. Some points of note however include: @@ -94,6 +98,6 @@ The rest of the high level commands serve as references to repeatedly define wor * Restore workspace command intentionally sets the `build` parameter to `false` * to avoid unnecessary duplication of the same workspace cache and build logs -### Code Coverage +## Code Coverage A custom script within the repo is reused to collect and post process the generated code coverage results from debug test jobs. This always runs regardless if the tests fail so that failed code coverage reports may still be reviewed. The final report is uploaded to CodeCov. From a7e67498b1c69847902ab871804439a7820a3eca Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 11 Oct 2020 23:29:54 -0700 Subject: [PATCH 37/61] Move morkspaces back under steps --- doc/continuous_integration/circleci.md | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index cc656a5cae..31f3b74e7f 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -63,6 +63,17 @@ Checking out code consists of three stages, including pre and post checkout step The overlay workspace is then cleaned prior to checking out the project. The post checkout step simply checks to see if the underlay has changed to determine whether it should also be cleaned, recloned, and thus rebuilt as well. +## Workspaces + +The rest of the steps are references to repeatedly define workspace specific commands, such as install, building and testing either the underlay or overlay workspace. Some points of note however include: + +* The CI cache for ccache is intentionally linked with the underlay rather than the overlay workspace + * so that consecutive commits to the same PR are more likely to retain a warm and recent ccache +* CCache Stats is intentionally used to zero stats before building a workspace + * so the next consecutive run of the CCache Stats reflects only upon that given workspace +* Restore workspace command intentionally sets the `build` parameter to `false` + * to avoid unnecessary duplication of the same workspace cache and build logs + ## Common Commands Common commands for low level, repeated, and formulaic tasks are defined for saving and restoring CI caches, as well as for installing, building, and testing workspaces. @@ -87,17 +98,6 @@ For installing and building workspaces, the process resembles that within the pr For testing workspaces, the list of packages within the workspace are [tested in parallel](https://circleci.com/docs/2.0/parallelism-faster-jobs/) across the number of replicated containers for the given test job as denoted by the `parallelism` option. Here packages are split by anticipated test timing; the heuristic derived from the reported duration and classname of prior recent test results. The logs and results from the tests are then always [reported](https://circleci.com/docs/2.0/configuration-reference/#store_test_results) and uploaded. -## Workspaces - -The rest of the high level commands serve as references to repeatedly define workspace specific commands, such as install, building and testing either the underlay or overlay workspace. Some points of note however include: - -* The CI cache for ccache is intentionally linked with the underlay rather than the overlay workspace - * so that consecutive commits to the same PR are more likely to retain a warm and recent ccache -* CCache Stats is intentionally used to zero stats before building a workspace - * so the next consecutive run of the CCache Stats reflects only upon that given workspace -* Restore workspace command intentionally sets the `build` parameter to `false` - * to avoid unnecessary duplication of the same workspace cache and build logs - ## Code Coverage A custom script within the repo is reused to collect and post process the generated code coverage results from debug test jobs. This always runs regardless if the tests fail so that failed code coverage reports may still be reviewed. The final report is uploaded to CodeCov. From b583d1d9899a26f9a3dffe9ab2320e618e0b25b1 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 11 Oct 2020 23:37:00 -0700 Subject: [PATCH 38/61] Move code coverage back under steps --- doc/continuous_integration/circleci.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index 31f3b74e7f..7c169266ec 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -74,6 +74,10 @@ The rest of the steps are references to repeatedly define workspace specific com * Restore workspace command intentionally sets the `build` parameter to `false` * to avoid unnecessary duplication of the same workspace cache and build logs +## Code Coverage + +The last few steps invoke a custom script to collect and post process the generated code coverage results from debug test jobs. This always runs regardless if the tests fail so that failed code coverage reports may still be reviewed. The final report is uploaded to CodeCov. + ## Common Commands Common commands for low level, repeated, and formulaic tasks are defined for saving and restoring CI caches, as well as for installing, building, and testing workspaces. @@ -97,7 +101,3 @@ For installing and building workspaces, the process resembles that within the pr ### Testing For testing workspaces, the list of packages within the workspace are [tested in parallel](https://circleci.com/docs/2.0/parallelism-faster-jobs/) across the number of replicated containers for the given test job as denoted by the `parallelism` option. Here packages are split by anticipated test timing; the heuristic derived from the reported duration and classname of prior recent test results. The logs and results from the tests are then always [reported](https://circleci.com/docs/2.0/configuration-reference/#store_test_results) and uploaded. - -## Code Coverage - -A custom script within the repo is reused to collect and post process the generated code coverage results from debug test jobs. This always runs regardless if the tests fail so that failed code coverage reports may still be reviewed. The final report is uploaded to CodeCov. From 49a0015ef537050e2d9e244ddae491db08bb379c Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 12 Oct 2020 00:18:28 -0700 Subject: [PATCH 39/61] Update codecov doc --- doc/continuous_integration/codecov.md | 19 +++++++++++++++++-- 1 file changed, 17 insertions(+), 2 deletions(-) diff --git a/doc/continuous_integration/codecov.md b/doc/continuous_integration/codecov.md index 0179de6ffe..f1c7057539 100644 --- a/doc/continuous_integration/codecov.md +++ b/doc/continuous_integration/codecov.md @@ -1,3 +1,18 @@ -https://codecov.io/gh/ros-planning/navigation2 +### Codecov -https://docs.codecov.io/docs/codecov-yaml \ No newline at end of file +Codecov is a service used to aggregate and monitor code coverage results, rendering test statistics generated by CI pipelines into interactive analytics, improving the visibility of the project's health and providing feedback for potential contributions. More info on Codecov can be found here: + +* [Codecov](https://codecov.io/) +* [Navigation2 on Codecov](https://codecov.io/gh/ros-planning/navigation2) + +Codecov is configured + +* [About the Codecov yaml](https://docs.codecov.io/docs/codecov-yaml) +* [codecov.yml Reference](https://docs.codecov.io/docs/codecovyml-reference) +* [codecov.yml](/codecov.yml) + +A custom script within the repo is reused to collect and post process the generated code coverage results from debug test jobs. This scrip simply invokes lcov on the overlay workspace to output `full_coverage.info`, and then filter this down to `workspace_coverage.info` by removing and irrelevant subdirectories, e.g. for message or test packages. + +* [code_coverage_report.bash](/tools/code_coverage_report.bash) + +After the coverage info is uploaded, the project `codecov.yml` is used to further ignore any source test directories, as well as fix the project root path from when the repo was cloned into the relative workspace's src directory. From d8096616b877bf05f20b54ba346b385fc9647962 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 12 Oct 2020 00:26:49 -0700 Subject: [PATCH 40/61] Comment that ccache uses ram disk --- doc/continuous_integration/circleci.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index 7c169266ec..8d1eb9e429 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -47,7 +47,8 @@ Per the YAML syntax, a reference must proceed any anchor that it links back to. For environment variables common among the executors, workspace paths and specific config options are listed here. While the workspace paths are parameterized to avoid hardcoding paths in common command functions, they may also be hardcoded as fields among a few high level steps given a limitation of the config syntax. The additional config options help optimize our project build given CI resource limits: -* Capping ccache size/location given CI storage limits, speeding up cache restoration +* Capping ccache size given CI storage limits, speeding up cache restoration +* Setting ccache location to use RAM disk to improve file IO performance * Limiting parallel make and linker jobs as to avoid exhausting container's RAM * Further adjustments for changing test behavior and sequential test stdout. From 2fd049db1f01ab25c5e1aeaa7e72f1cdf87c6504 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Fri, 6 Nov 2020 12:03:54 -0800 Subject: [PATCH 41/61] Fix typo --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index d3aef7cb1a..c640a1be68 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -94,7 +94,7 @@ The [`distro.Dockerfile`](/.dockerhub/distro.Dockerfile) provides once such exam ### Advanced Optimizations -With Buildkit's concurrent dependency resolution, multistage builds become parallelizable, assisting in shorter over all image build times. Granular expansion of the Directed Acyclic Graph (DAG) of workspace build steps into septate stages can be used to exploit this parallelism further, as well to maximize caching. This is exemplified in [`source.Dockerfile`](/.dockerhub/source.Dockerfile). The figure bellow depicts how the multiple stages are composed to exploit the DAG of workspaces. +With Buildkit's concurrent dependency resolution, multistage builds become parallelizable, assisting in shorter over all image build times. Granular expansion of the Directed Acyclic Graph (DAG) of workspace build steps into separate stages can be used to exploit this parallelism further, as well to maximize caching. This is exemplified in [`source.Dockerfile`](/.dockerhub/source.Dockerfile). The figure bellow depicts how the multiple stages are composed to exploit the DAG of workspaces. ![pipeline](figs/multistage.svg) From ff1bca09ee2b6c2088a5aafe282d6038aeb2c845 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Fri, 6 Nov 2020 12:09:23 -0800 Subject: [PATCH 42/61] Complete sentence on codecov.yml --- doc/continuous_integration/codecov.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/doc/continuous_integration/codecov.md b/doc/continuous_integration/codecov.md index f1c7057539..e21aec9258 100644 --- a/doc/continuous_integration/codecov.md +++ b/doc/continuous_integration/codecov.md @@ -5,11 +5,10 @@ Codecov is a service used to aggregate and monitor code coverage results, render * [Codecov](https://codecov.io/) * [Navigation2 on Codecov](https://codecov.io/gh/ros-planning/navigation2) -Codecov is configured +Codecov is configured via the [`codecov.yml`](/codecov.yml) file. More info on this can be found here: * [About the Codecov yaml](https://docs.codecov.io/docs/codecov-yaml) * [codecov.yml Reference](https://docs.codecov.io/docs/codecovyml-reference) -* [codecov.yml](/codecov.yml) A custom script within the repo is reused to collect and post process the generated code coverage results from debug test jobs. This scrip simply invokes lcov on the overlay workspace to output `full_coverage.info`, and then filter this down to `workspace_coverage.info` by removing and irrelevant subdirectories, e.g. for message or test packages. From 112178dec8dc1c01d45b8e4166e990f8b9a8910d Mon Sep 17 00:00:00 2001 From: Ruffin Date: Fri, 6 Nov 2020 12:44:31 -0800 Subject: [PATCH 43/61] Update doc/continuous_integration/README.md Co-authored-by: Steve Macenski --- doc/continuous_integration/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/README.md b/doc/continuous_integration/README.md index 8d03d06665..0df95d9dbd 100644 --- a/doc/continuous_integration/README.md +++ b/doc/continuous_integration/README.md @@ -2,7 +2,7 @@ Documentation on the existing CI for the project is resides here. ## Overview -The existing CI is composed of multiple integration services that together help provide maintainers a fast and scalable testing environment. To help detect upstream breakages quickly as well, the existing CI allows for changes to be evaluated using the latest development dependencies. In light of the large dependency footprint a high-level ROS2 navigation stack necessitates, the use of each integration service is optimized to maximize caching of environmental setup and increase workflow throughput. As these optimizations add complexity to the CI configuration, this documentation provides further explanations and reasoning behind each configuration. +The existing CI is composed of multiple integration services that together help provide maintainers a fast and scalable testing environment. To help detect upstream breakages quickly as well, the existing CI allows for changes to be evaluated using the latest development dependencies (e.g. using ROS2 master branches). In light of the large dependency footprint a high-level ROS2 navigation stack necessitates, the use of each integration service is optimized to maximize caching of environmental setup and increase workflow throughput. As these optimizations add complexity to the CI configuration, this documentation provides further explanations and reasoning behind each configuration. ![pipeline](figs/pipeline.svg) From bd630b61202d663a3c226a4b3bce1a530afc7c67 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Fri, 6 Nov 2020 12:55:06 -0800 Subject: [PATCH 44/61] Update doc/continuous_integration/dockerfile.md Co-authored-by: Steve Macenski --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index c640a1be68..1105203989 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -33,7 +33,7 @@ A `cacher` stage is then started to gather together the necessary source files t The `.repos` file is not copied directly into the `src` folder to avoid any restructuring of the yaml data from unintentionally busting the docker build cache in later stages. The ephemeral files within `.git` repo folders are similarly removed and help bolster deterministic builds. -The overlay workspace is then also created and populated using all the files in the docker build context, i.e. the [root](/) directory of the repo. This is done after the underlay is cloned to avoid having to re-download underlay source files if the `.repos` files are unchanged. However, if the `.repos` file is changed, and different source files are cloned, this can then bust the docker build cache. Other ephemeral or unessential project files are safely ignored using the [`.dockerignore`](/.dockerignore) config. If ever the docker build cache is cache is somehow stale, using the docker build flag `--no-cache` may be used to freshly build anew. +The overlay workspace is then also created and populated using all the files in the docker build context, (e.g. the root directory of the branch being built). This is done after the underlay is cloned to avoid re-downloading underlay dependency source files if the `.repos` file is unchanged in the branch. However, if the `.repos` file is changed, and different source files are cloned, this will bust the docker build cache and clean rebuild. Other project files are safely ignored using the [`.dockerignore`](/.dockerignore) config. If the docker build's cache is somehow stale, using the docker build flag `--no-cache` may be used to freshly build anew. Finally the `cacher` stage copies all manifest related files in place within the `/opt` directory into a temporary mirrored directory that later stages can copy from without unnecessarily busting it's docker build cache. The [`source.Dockerfile`](/.dockerhub/source.Dockerfile) provides an advance example of avoiding ignored packages, or packages that are unnecessary as overlay dependencies. From 9fba827e1b02cc95f4667b374f35aa071aa6f5ba Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sat, 7 Nov 2020 13:48:44 -0800 Subject: [PATCH 45/61] Update doc/continuous_integration/circleci.md Co-authored-by: Steve Macenski --- doc/continuous_integration/circleci.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index 8d1eb9e429..403defe25a 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -5,7 +5,7 @@ CircleCI is a service used to build and test the project's codebase to catch reg * [CircleCI](https://circleci.com/) * [Navigation2 on CircleCI](https://circleci.com/gh/ros-planning/navigation2) -For this particular CI, Docker is used to build and test the project within containers derived from images pulled from DockerHub, bootstrapping the CI with a development environment including pre configured dependencies and warm workspace build caches. View the accompanying DockerFile and DockerHub documentation for more info on this accompanying CI setup. +For this particular CI, Docker is used to build and test the project within containers derived from images pulled from DockerHub, bootstrapping the CI with a development environment including pre-configured dependencies and warm workspace build caches. View the accompanying DockerFile and DockerHub documentation for more info on this accompanying CI setup. * [Dockerfile](dockerfile.md) * [DockerHub](dockerhub.md) From 62f8ac8cb82c1363c3a7a0ec7f35cafeeb1b1f81 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sat, 7 Nov 2020 13:49:12 -0800 Subject: [PATCH 46/61] Update doc/continuous_integration/dockerfile.md Co-authored-by: Steve Macenski --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 1105203989..7cc3e3f751 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -70,7 +70,7 @@ The addition of the `ccache` mixin is used to pre-bake a warm ccache directory i ## Overlay Workspace -The overlay workspace is then set up in a similar manner where the same steps are repeated, only now sourcing the underlay setup file, and by building within the overlay directory. The separation of underlay vs overlay workspace helps split caching of compilation across the two major points of change; that of external dependencies that change infrequently upon new releases vs local project source files that perpetually change during development. The overlay mixins are parameterized via `ARG` as well to allow the underlay and overlay to be independently configured by CI or local developers. This pattern can be repeated to chain together workspaces in one or multiple Dockerfiles; practically useful when working with a stack of related projects with deep recursive dependencies. +The overlay workspace is then set up in a similar manner where the same steps are repeated, only now sourcing the underlay setup file, and by building the overlay directory. The separation of underlay vs overlay workspace helps split caching of compilation across the two major points of change; that of external dependencies that change infrequently upon new releases vs local project source files that perpetually change during development. The overlay mixins are parameterized via `ARG` as well to allow the underlay and overlay to be independently configured by CI or local developers. This pattern can be repeated to chain together workspaces in one or multiple Dockerfiles; practically useful when working with a stack of related projects with deep recursive dependencies. ### Setup Entrypoint From 5755076bc5967911569f4cfa9ee6266100da4bbc Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sat, 7 Nov 2020 13:50:11 -0800 Subject: [PATCH 47/61] Update doc/continuous_integration/README.md --- doc/continuous_integration/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/README.md b/doc/continuous_integration/README.md index 0df95d9dbd..b5d6529b52 100644 --- a/doc/continuous_integration/README.md +++ b/doc/continuous_integration/README.md @@ -12,7 +12,7 @@ The figure above is a high level diagram on how the integration services describ The following links document each integration and are best approached in the same order presented. -### [GitHub](github.md) +### GitHub GitHub is used for hosting the source repo, tickets and PRs, as well for managing the OAuth and configs for the rest of the other integration services in the CI pipeline. From 65ae4c6c0d58a11457933c927f4e24f7cf322a75 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sat, 7 Nov 2020 13:50:56 -0800 Subject: [PATCH 48/61] Update doc/continuous_integration/dockerfile.md Co-authored-by: Steve Macenski --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 7cc3e3f751..eb13c2a649 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -39,7 +39,7 @@ Finally the `cacher` stage copies all manifest related files in place within the ## Builder Stage -A `builder` stage is then started to install external dependencies and compile the respective workspaces. Static CI dependencies are first installed before any later potential cache busting directives. These include: +A `builder` stage is then started to install external dependencies and compile the respective workspaces. Static CI dependencies are first installed before any later potential cache busting directives to optimize rebuilds. These include: * [ccache](https://ccache.dev) * Compiler cache for speeding up recompilation From 8aadf997ffaee80a43a5a991b992575dac55acff Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sat, 7 Nov 2020 13:52:00 -0800 Subject: [PATCH 49/61] Update doc/continuous_integration/dockerfile.md Co-authored-by: Steve Macenski --- doc/continuous_integration/dockerfile.md | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index eb13c2a649..01bbb0b727 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -1,6 +1,11 @@ # Dockerfile Documentation -Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provides repeatable and reproducible means to build and test the project, as well as build images for running container based CI services. Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: +Dockerfiles, denoted via the `(.)Dockerfile` file name extension, provide: +- Repeatable and reproducible means to build and test the project +- Build images for running container based CI services +- Identical images to scalably deploy onto robot systems + +Further references on writing and building Dockerfiles, such as syntax and tooling can be found here: * [Dockerfile reference](https://docs.docker.com/engine/reference/builder) * [Best practices for writing Dockerfiles](https://docs.docker.com/develop/develop-images/dockerfile_best-practices) From 1074b191430f73cd1c6f3ea5b643e964b0579ad7 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sat, 7 Nov 2020 13:53:05 -0800 Subject: [PATCH 50/61] Update doc/continuous_integration/dockerfile.md Co-authored-by: Steve Macenski --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 01bbb0b727..23e866f40a 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -83,7 +83,7 @@ The default entrypoint `ros_entrypoint.sh` inherited from the parent image is th ### Testing Overlay -The overlay may then be optionaly tested using the same additional mixins. The results of the test may also be used to optionaly fail the entire build; useful if the return code from `docker build` command itself is used as a primitive form of CI, or demonstrating to new contributors on how to locally test pull requests by invoking the colcon CLI. +The overlay may then be optionally tested using the same additional mixins. The results of the test may also be used to optionally fail the entire build; useful if the return code from `docker build` command itself is used as a primitive form of CI, or demonstrating to new contributors on how to locally test pull requests by invoking the colcon CLI. In other terms, failing on test failure may be good for a production system, but practically speaking, CI may be broken on occasionally and these images will still be required for fixing those issues so they must still be deployed. ## Buildkit From 900535c535a1b14350c04230922a1365de890bb2 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sat, 7 Nov 2020 13:54:23 -0800 Subject: [PATCH 51/61] Update doc/continuous_integration/dockerhub.md Co-authored-by: Steve Macenski --- doc/continuous_integration/dockerhub.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerhub.md b/doc/continuous_integration/dockerhub.md index d94c051b6b..4728f3ce3e 100644 --- a/doc/continuous_integration/dockerhub.md +++ b/doc/continuous_integration/dockerhub.md @@ -20,7 +20,7 @@ Automated Builds are controlled via the build configurations menu within the rep Here the repo's source repository is linked to the project's GitHub repo, while Autotest is disabled given a dedicated CI service is separately used to run test jobs. Repository linking can be used so that whenever a parent image repo is updated on DockerHub, it will also trigger a build for the project's DockerHub repository. Note that this only works for non-official library images, and only for build rules where Autobuild is is enabled. Two build rules are added for the main branch, providing both a release and debug tag for CI to pull from. The relative Dockerfiles paths are designated, while the build context is intentionally left empty, ensuring the build phase hooks within the same paths are used appropriately. Build caching is also enabled to shorten image turnaround time if multiple rebuilds a day are triggered. -The build hooks, e.g. [build](/.dockerhub/debug/hooks/build) , are for customizing docker build arguments in the Dockerfile via the `ARG` directives; such as changing the base `FROM_IMAGE` between release or debug tags, adjusting the colcon mixins for each workspace to enable code coverage, or disabling fail on build failure, preventing source build breakages from blocking CI image tag updates. This also allows the slower debug CI to build and test only using the default RMW, while allowing the faster release CI jobs to build and test from an image with more RMWs installed. +The build hooks, e.g. [build](/.dockerhub/debug/hooks/build), are for customizing docker build `ARG`s in the Dockerfile; such as changing the base `FROM_IMAGE` between release or debug tags, adjusting the colcon mixins for each workspace to enable code coverage, or disabling fail on build failure, preventing source build breakages from blocking CI image tag updates. This also allows the slower debug CI to build and test only using the default RMW, while allowing the faster release CI jobs to build and test from an image with more RMWs installed. ## Autobuild From 94a468cc2652db684060915200220457e7b813b4 Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sat, 7 Nov 2020 13:55:25 -0800 Subject: [PATCH 52/61] Update doc/continuous_integration/circleci.md Co-authored-by: Steve Macenski --- doc/continuous_integration/circleci.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/circleci.md b/doc/continuous_integration/circleci.md index 403defe25a..fcf4ccbed5 100644 --- a/doc/continuous_integration/circleci.md +++ b/doc/continuous_integration/circleci.md @@ -10,7 +10,7 @@ For this particular CI, Docker is used to build and test the project within cont * [Dockerfile](dockerfile.md) * [DockerHub](dockerhub.md) -CircleCI is configured via the [config.yml](/.circleci/config.yml) yaml file within the `.circleci/` folder at the root of the GitHub repo. The config file for this project is self-contained and thus densely structured, yet written in a functional style to remain DRY and modular. This keeps it easily generalizable for other ROS packages or for adjusting overlayed workspaces. Despite the anchors and references in yaml, the config file is best approached in reverse, from bottom to top in order of abstraction hierarchy, while reading this accompanied document. Further references on CircleCI configurations, such as syntax and structure can be found here: +CircleCI is configured via the [config.yml](/.circleci/config.yml) yaml file within the `.circleci/` folder at the root of the GitHub repo. The config file for this project is self-contained and thus densely structured, yet written in a functional style to remain DRY and modular. This keeps it easily generalizable for other ROS packages or for adjusting overlayed workspaces. Despite the anchors and references in yaml, the config file is best understood read in reverse, from bottom to top, in order of abstraction hierarchy, while reading this accompanied document. Further references on CircleCI configurations, such as syntax and structure can be found here: * [Writing YAML](https://circleci.com/docs/2.0/writing-yaml) * [Configuring CircleCI](https://circleci.com/docs/2.0/configuration-reference) From ce8da8335c1635653164c4ca7766dd1df6677f48 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 8 Nov 2020 12:15:11 -0800 Subject: [PATCH 53/61] Break-out Future Work to separate file --- doc/continuous_integration/README.md | 36 ++--------------------- doc/continuous_integration/future_work.md | 33 +++++++++++++++++++++ 2 files changed, 36 insertions(+), 33 deletions(-) create mode 100644 doc/continuous_integration/future_work.md diff --git a/doc/continuous_integration/README.md b/doc/continuous_integration/README.md index b5d6529b52..86551ae9f7 100644 --- a/doc/continuous_integration/README.md +++ b/doc/continuous_integration/README.md @@ -32,36 +32,6 @@ CircleCI is used to checkout, build, and test the project via docker containers CodeCov is used to help monitor code quality by rendering test artifacts from the upstream pipeline into interactive analytics, improving the visibility of the project's health and feedback for contributions. -## Future Work - -The CI has room for improvement and may still evolve over time. The following notes alterative integration options, including current pros and cons for each. - -### [GitHub Actions](https://github.com/features/actions) - -Github actions is an emerging container based CI service that tightly integrates with the rest of GitHub's service offerings. With a growing ecosystem of official and federated 3rd party actions available, one can compose custom and extensive CI/CD workflows. - -#### Pros: - -* Self hosted runners - * Optionally run workflows form on site, not just cloud VMs - * https://docs.github.com/en/free-pro-team@latest/actions/hosting-your-own-runners - * Leverage local hardware, e.g: GPUs, persistent storage, robot sensors, etc. - -#### Cons: - -* No test introspection - * One must still roll there own test result reporting - * https://github.community/t/publishing-test-results/16215/12 - * Xunit test results are not rendered, aggregated, nor summarized -* Restricted caching - * Caching with runners is less ergonomic than other CI providers - * https://github.com/microsoft/azure-pipelines-agent/issues/2043 - * Implementation inherits same limitation from azure-pipelines-agent -* No job level parallelism - * No equivalent parallelism for splitting tests via timing data - * https://circleci.com/docs/2.0/parallelism-faster-jobs - * Parameterizable parallelism without adding jobs to workflow -* No RAM Disk access - * Useful to improve file IO performance - * https://circleci.com/docs/2.0/executor-types/#ram-disks - * Applicable for frequent reads/writes, e.g. ccache +### [Future Work](future_work.md) + +The CI has room for improvement and may still evolve over time, as alternate integration options become more viable, and the pros and cons of each shift. diff --git a/doc/continuous_integration/future_work.md b/doc/continuous_integration/future_work.md new file mode 100644 index 0000000000..49d5819326 --- /dev/null +++ b/doc/continuous_integration/future_work.md @@ -0,0 +1,33 @@ +# Future Work + +The CI has room for improvement and may still evolve over time. The following notes alterative integration options, including current pros and cons for each. + +## [GitHub Actions](https://github.com/features/actions) + +Github actions is an emerging container based CI service that tightly integrates with the rest of GitHub's service offerings. With a growing ecosystem of official and federated 3rd party actions available, one can compose custom and extensive CI/CD workflows. + +### Pros: + +* Self hosted runners + * Optionally run workflows form on site, not just cloud VMs + * https://docs.github.com/en/free-pro-team@latest/actions/hosting-your-own-runners + * Leverage local hardware, e.g: GPUs, persistent storage, robot sensors, etc. + +### Cons: + +* No test introspection + * One must still roll there own test result reporting + * https://github.community/t/publishing-test-results/16215/12 + * Xunit test results are not rendered, aggregated, nor summarized +* Restricted caching + * Caching with runners is less ergonomic than other CI providers + * https://github.com/microsoft/azure-pipelines-agent/issues/2043 + * Implementation inherits same limitation from azure-pipelines-agent +* No job level parallelism + * No equivalent parallelism for splitting tests via timing data + * https://circleci.com/docs/2.0/parallelism-faster-jobs + * Parameterizable parallelism without adding jobs to workflow +* No RAM Disk access + * Useful to improve file IO performance + * https://circleci.com/docs/2.0/executor-types/#ram-disks + * Applicable for frequent reads/writes, e.g. ccache \ No newline at end of file From 3b2906ebe0588c19017484467d8fb225ecf63430 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 8 Nov 2020 13:20:08 -0800 Subject: [PATCH 54/61] Update figure now that `Autobuild` is disabled for the build rules on Dockerhub The caches for release and debug jobs in the same workflow don't collide thanks to the different prefix in the cache key names. Add two arrows to make that separation more apparent. Also, correct the fact that test jobs don't reuse caches from prior test jobs, only from build jobs in the same workflow. --- .../figs/pipeline.drawio | 63 ++++++++----------- doc/continuous_integration/figs/pipeline.svg | 2 +- 2 files changed, 28 insertions(+), 37 deletions(-) diff --git a/doc/continuous_integration/figs/pipeline.drawio b/doc/continuous_integration/figs/pipeline.drawio index 4dcacdf857..9a7dfdedd8 100644 --- a/doc/continuous_integration/figs/pipeline.drawio +++ b/doc/continuous_integration/figs/pipeline.drawio @@ -1,10 +1,10 @@ - + - + - + @@ -126,7 +126,7 @@ - + @@ -159,39 +159,23 @@ - + - - - - - - - - - + + - + - - - - - - - - - - - + + - + @@ -207,7 +191,7 @@ - + @@ -216,7 +200,7 @@ - + @@ -228,7 +212,7 @@ - + @@ -261,11 +245,6 @@ - - - - - @@ -278,9 +257,21 @@ - + + + + + + + + + + + + + diff --git a/doc/continuous_integration/figs/pipeline.svg b/doc/continuous_integration/figs/pipeline.svg index cf26a99a04..7cfff7beb5 100644 --- a/doc/continuous_integration/figs/pipeline.svg +++ b/doc/continuous_integration/figs/pipeline.svg @@ -1 +1 @@ -DockerHub
Dockerfile
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osrf/docker_images
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navigation2:
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ros2:
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ros-planning/
navigation2
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ros-planning/...GitHubCache Busting Filesunderlay.repospackage.xmlCOLCON_IGNOREBranchesmain*-devel
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to Pull Request
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.circleci/
.circleci/
ros-planning/
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Dockerfile
Dockerfile
osrf/docker_images
Nightly Build
osrf/docker_images...
.dockerhub/
.dockerhub/
rosplanning/
navigation2:
<tag>
rosplanning/...
osrf/
ros2:
nightly
osrf/...
ros-planning/
navigation2
Nightly Build
ros-planning/...GitHubCache Busting Filesunderlay.repospackage.xmlCOLCON_IGNOREBranchesmain*-devel
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Release...Viewer does not support full SVG 1.1 \ No newline at end of file From ae16809f98e00e7eb80a2f405976a4589b3760e3 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 8 Nov 2020 13:24:17 -0800 Subject: [PATCH 55/61] repo -> regestry --- doc/continuous_integration/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/README.md b/doc/continuous_integration/README.md index 86551ae9f7..92e5fe81ee 100644 --- a/doc/continuous_integration/README.md +++ b/doc/continuous_integration/README.md @@ -22,7 +22,7 @@ Dockerfiles are used for generating the docker images for building and testing t ### [DockerHub](dockerhub.md) -DockerHub is used to build and host the repo of tagged docker images, so that downstream services in the CI pipeline can quickly download and bootstrap the latest up-to-date development environment. +DockerHub is used to build and host the regestry of tagged docker images, so that downstream services in the CI pipeline can quickly download and bootstrap the latest up-to-date development environment. ### [CircleCI](circleci.md) From fc8b92b8b601310570a22d62013c482c43fb942c Mon Sep 17 00:00:00 2001 From: Ruffin Date: Sun, 8 Nov 2020 13:33:08 -0800 Subject: [PATCH 56/61] Update doc/continuous_integration/dockerfile.md Co-authored-by: Steve Macenski --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 23e866f40a..9fff215f0c 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -10,7 +10,7 @@ Further references on writing and building Dockerfiles, such as syntax and tooli * [Dockerfile reference](https://docs.docker.com/engine/reference/builder) * [Best practices for writing Dockerfiles](https://docs.docker.com/develop/develop-images/dockerfile_best-practices) -The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub, thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. When choosing the parent image, a tradeoff may persist between choosing a larger tag with more than what you need pre-installed, saving time building the image locally, vs. choosing a smaller tag without anything you don't need, saving time pulling or pushing the image remotely. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. More info on upstream repos on DockerHub can be found here: +The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub (e.g. osrf/ros2:nightly, osrf/ros2:foxy), thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. When choosing the parent image, a tradeoff may persist between choosing a larger tag with more than what you need pre-installed (e.g. desktop images), saving time building the image locally, vs. choosing a smaller tag without anything you don't need (e.g. core images), saving time pulling or pushing the image remotely. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. More info on upstream repos on DockerHub can be found here: * [ROS Docker Images](https://hub.docker.com/_/ros) * DockerHub repo for official images From f811edfe3825f90066bf78ab36272074b7d51987 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 8 Nov 2020 13:34:24 -0800 Subject: [PATCH 57/61] Correct tag name --- doc/continuous_integration/dockerfile.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 9fff215f0c..fa9c281754 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -10,7 +10,7 @@ Further references on writing and building Dockerfiles, such as syntax and tooli * [Dockerfile reference](https://docs.docker.com/engine/reference/builder) * [Best practices for writing Dockerfiles](https://docs.docker.com/develop/develop-images/dockerfile_best-practices) -The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub (e.g. osrf/ros2:nightly, osrf/ros2:foxy), thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. When choosing the parent image, a tradeoff may persist between choosing a larger tag with more than what you need pre-installed (e.g. desktop images), saving time building the image locally, vs. choosing a smaller tag without anything you don't need (e.g. core images), saving time pulling or pushing the image remotely. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. More info on upstream repos on DockerHub can be found here: +The Dockerfiles for this project are built upon parent images from upstream repos on DockerHub (e.g. osrf/ros2:nightly, library/ros2:foxy), thus abbreviating environmental setup and build time, yet written in a parameterized style to remain ROS2 distro agnostic. This keeps them easily generalizable for future ROS2 releases or for switching between custom parent images. When choosing the parent image, a tradeoff may persist between choosing a larger tag with more than what you need pre-installed (e.g. desktop images), saving time building the image locally, vs. choosing a smaller tag without anything you don't need (e.g. core images), saving time pulling or pushing the image remotely. Given the use of multiple build stages, they're consequently best approached by reading from top to bottom in the order in which image layers are appended. More info on upstream repos on DockerHub can be found here: * [ROS Docker Images](https://hub.docker.com/_/ros) * DockerHub repo for official images From e4677ef949cb3b28dda6ca74ead3ab83cb9ec087 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Sun, 8 Nov 2020 14:10:15 -0800 Subject: [PATCH 58/61] Update remarks on ARGs --- doc/continuous_integration/dockerfile.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index fa9c281754..776d2ff69b 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -22,7 +22,7 @@ While the main [`Dockerfile`](/Dockerfile) at the root of the repo is used for d ## Global Arguments -The Dockerfile first declares a number of optional `ARG` values and respective defaults to specify the parent image to build `FROM` and workspace paths. Here the Dockerfiles assume all workspaces are nested within the `/opt` directory. These `ARG`s can be accessed similarly to `ENV`s, but must be declared in a stage's scope before they can be used, and unlike `ENV` only exist at build time of that stage and do not persist in the resulting image. For multi-stage builds, the last stage is what is tagged as the final image. More info on multi-stage builds can be found here: +The Dockerfile first declares a number of optional `ARG` values and respective defaults to specify the parent image to build `FROM` and workspace paths. Here the Dockerfiles assume all workspaces are nested within the `/opt` directory. These `ARG`s can be accessed similarly to `ENV`s, but must be declared in a stage's scope before they can be used, and unlike `ENV` only exist at build time of that stage and do not persist in the resulting image. Despite this scope behavior, we can keep the Dockerfile DRY by specifying default values of `ARG`s only where the are first declared. For multi-stage builds, the last stage is what is tagged as the final image. More info on multi-stage builds can be found here: * [Use multi-stage builds](https://docs.docker.com/develop/develop-images/multistage-build) * Optimize while keeping Dockerfiles readable and maintainable @@ -83,7 +83,7 @@ The default entrypoint `ros_entrypoint.sh` inherited from the parent image is th ### Testing Overlay -The overlay may then be optionally tested using the same additional mixins. The results of the test may also be used to optionally fail the entire build; useful if the return code from `docker build` command itself is used as a primitive form of CI, or demonstrating to new contributors on how to locally test pull requests by invoking the colcon CLI. In other terms, failing on test failure may be good for a production system, but practically speaking, CI may be broken on occasionally and these images will still be required for fixing those issues so they must still be deployed. +The overlay may then be optionally tested using the test related `ARG`s. The results of the test may also be used to optionally fail the entire build; useful if the return code from `docker build` command itself is used as a primitive form of CI, or demonstrating to new contributors on how to locally test pull requests by invoking the colcon CLI. In other terms, failing on test failure may be good for a production system, but practically speaking, CI may be broken on occasionally and these images will still be required for fixing those issues so they must still be deployed. ## Buildkit From 62be61161658044788b93d25e08699922bdfc67f Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 9 Nov 2020 11:18:05 -0800 Subject: [PATCH 59/61] Clarify purpose of cacher stage --- doc/continuous_integration/dockerfile.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 776d2ff69b..d60a4a1d2a 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -31,7 +31,9 @@ Here the parent image to build `FROM` is set to `osrf/ros2:nightly` by default, ## Cacher Stage -A `cacher` stage is then started to gather together the necessary source files to eventually build. A directory for the underlay workspace is then created and populated using `vcs` with the respective `.repos` file that defines the relevant repositories to pull and particular versions to checkout into the source directory. More info on vcstool can be found here: +A `cacher` stage is then declared to gather together the necessary source files to eventually build. This stage deterministically pre-processes input source files to help preserve the docker image layer build cache for subsequent stages. This is achieved by strategically filtering and splitting input artifacts with different degrees of volatility so they may be independently copied from bit-for-bit. + +A directory for the underlay workspace is then created and populated using `vcs` with the respective `.repos` file that defines the relevant repositories to pull and particular versions to checkout into the source directory. More info on vcstool can be found here: * [vcstool](https://github.com/dirk-thomas/vcstool) * CLI for working with multiple repositories easier @@ -44,7 +46,7 @@ Finally the `cacher` stage copies all manifest related files in place within the ## Builder Stage -A `builder` stage is then started to install external dependencies and compile the respective workspaces. Static CI dependencies are first installed before any later potential cache busting directives to optimize rebuilds. These include: +A `builder` stage is then declared to install external dependencies and compile the respective workspaces. Static CI dependencies are first installed before any later potential cache busting directives to optimize rebuilds. These include: * [ccache](https://ccache.dev) * Compiler cache for speeding up recompilation From 2f6504ffa46c941886073ae4e9864a27ab2a0748 Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 9 Nov 2020 11:26:49 -0800 Subject: [PATCH 60/61] Add code snippets --- doc/continuous_integration/dockerfile.md | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index d60a4a1d2a..603b57e3c8 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -31,6 +31,11 @@ Here the parent image to build `FROM` is set to `osrf/ros2:nightly` by default, ## Cacher Stage +``` Dockerfile +# multi-stage for caching +FROM $FROM_IMAGE AS cacher +``` + A `cacher` stage is then declared to gather together the necessary source files to eventually build. This stage deterministically pre-processes input source files to help preserve the docker image layer build cache for subsequent stages. This is achieved by strategically filtering and splitting input artifacts with different degrees of volatility so they may be independently copied from bit-for-bit. A directory for the underlay workspace is then created and populated using `vcs` with the respective `.repos` file that defines the relevant repositories to pull and particular versions to checkout into the source directory. More info on vcstool can be found here: @@ -46,6 +51,11 @@ Finally the `cacher` stage copies all manifest related files in place within the ## Builder Stage +``` Dockerfile +# multi-stage for building +FROM $FROM_IMAGE AS builder +``` + A `builder` stage is then declared to install external dependencies and compile the respective workspaces. Static CI dependencies are first installed before any later potential cache busting directives to optimize rebuilds. These include: * [ccache](https://ccache.dev) From 643bc089bbd7d8f64a68330543f6871361f50def Mon Sep 17 00:00:00 2001 From: ruffsl Date: Mon, 9 Nov 2020 12:00:18 -0800 Subject: [PATCH 61/61] Expand comments on multistage figure --- doc/continuous_integration/dockerfile.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/doc/continuous_integration/dockerfile.md b/doc/continuous_integration/dockerfile.md index 603b57e3c8..e960456bdb 100644 --- a/doc/continuous_integration/dockerfile.md +++ b/doc/continuous_integration/dockerfile.md @@ -115,6 +115,8 @@ With Buildkit's concurrent dependency resolution, multistage builds become paral ![pipeline](figs/multistage.svg) +Note that stages independent of one another within the DAG represent opportunities where each may be executed in parallel; the colors of which simply denote it's functional purpose, wether it be for installing dependencies, building, or testing a given workspace. Depending upon the build `ARG`s provided or target stage selected when running docker build, the parent image the `cacher` stage builds from can be swapped out, and testing stages can be executed or bypassed as desired. + This composition of stages follows a few basic principles: * Enforce Determinism