Merge pull request #21 from MOLAorg/fix-misc #240
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| # Based on GTSAM file (by @ProfFan) | |
| name: CI Build colcon | |
| on: [push] | |
| jobs: | |
| build_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions. | |
| runs-on: ubuntu-latest | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| strategy: | |
| matrix: | |
| # Define the Docker image(s) associated with each ROS distribution. | |
| # The include syntax allows additional variables to be defined, like | |
| # docker_image in this case. See documentation: | |
| # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build | |
| # | |
| # Platforms are defined in REP 3 and REP 2000: | |
| # https://ros.org/reps/rep-0003.html | |
| # https://ros.org/reps/rep-2000.html | |
| include: | |
| # Humble Hawksbill (May 2022 - May 2027) | |
| #- docker_image: ubuntu:jammy | |
| # ros_distribution: humble | |
| # use_ros_testing: false | |
| - docker_image: ubuntu:jammy | |
| ros_distribution: humble | |
| use_ros_testing: true | |
| # Jazzy (2024 - ??) | |
| #- docker_image: ubuntu:noble | |
| # ros_distribution: jazzy | |
| # use_ros_testing: false | |
| - docker_image: ubuntu:noble | |
| ros_distribution: jazzy | |
| use_ros_testing: true | |
| # Rolling Ridley (No End-Of-Life) | |
| #- docker_image: ubuntu:noble | |
| # ros_distribution: rolling | |
| # use_ros_testing: false | |
| - docker_image: ubuntu:noble | |
| ros_distribution: rolling | |
| use_ros_testing: true | |
| - docker_image: ubuntu:noble | |
| ros_distribution: rolling | |
| use_ros2-testing: true | |
| coverage_run: true | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - name: Checkout | |
| env: | |
| TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| run: | | |
| apt-get -y update | |
| apt-get -y install git | |
| git clone https://$TOKEN@github.com/$GITHUB_REPOSITORY.git --recursive "$GITHUB_WORKSPACE" | |
| git config --global --add safe.directory "$GITHUB_WORKSPACE" | |
| git checkout $GITHUB_SHA | |
| git submodule update --init --recursive | |
| - name: setup ROS environment | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distribution }} | |
| use-ros2-testing: ${{ matrix.use_ros_testing }} | |
| - name: Install rosdep dependencies | |
| run: | | |
| . /opt/ros/*/setup.sh | |
| rosdep update | |
| rosdep install --from-paths . --ignore-src -r -y | |
| - name: Install lcov for coverage analysis | |
| if: matrix.coverage_run == true | |
| run: | | |
| apt-get update | |
| apt-get install -y lcov | |
| - name: Build with colcon | |
| run: | | |
| . /opt/ros/*/setup.sh | |
| env | |
| # Inject Coverage Build Type | |
| if [ "${{ matrix.coverage_run }}" = "true" ]; then | |
| echo "Enabling Coverage build type..." | |
| # This flag forces the use of the gcov flags defined in CMakeLists.txt | |
| EXTRA_CMAKE_ARGS="$EXTRA_CMAKE_ARGS -DCMAKE_BUILD_TYPE=Coverage" | |
| fi | |
| env | |
| MAKEFLAGS="-j2" colcon build \ | |
| --symlink-install \ | |
| --parallel-workers 2 \ | |
| --event-handlers console_direct+ \ | |
| --cmake-args $EXTRA_CMAKE_ARGS | |
| - name: Run unit tests | |
| run: | | |
| . /opt/ros/*/setup.sh | |
| # Run tests regardless of coverage setting, as they are required to generate the .gcda files | |
| colcon test --event-handlers console_direct+ | |
| colcon test-result --verbose | |
| - name: Generate coverage report | |
| if: matrix.coverage_run == true | |
| run: | | |
| # 1. Capture coverage data across the entire workspace. | |
| # --ignore-errors mismatch fixes geninfo parsing errors | |
| # --rc geninfo_unexecuted_blocks=1 fixes warnings about unexecuted blocks | |
| lcov --capture --directory . --output-file coverage.info \ | |
| --ignore-errors mismatch --rc geninfo_unexecuted_blocks=1 | |
| # 2. Filter the report: Remove all files outside of your source code | |
| lcov --remove coverage.info '/opt/ros/*' '/usr/*' \ | |
| --ignore-errors unused --output-file coverage_filtered.info | |
| # 3. Print a summary to the log | |
| echo "--- Coverage Summary for mola-state-estimation ---" | |
| lcov --list coverage_filtered.info | |
| echo "------------------------------------------" | |
| - name: Upload coverage to Codecov | |
| if: matrix.coverage_run == true | |
| uses: codecov/codecov-action@v5 | |
| with: | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| files: ./coverage_filtered.info | |
| slug: MOLAorg/mola_state_estimation | |
| flags: colcon,rolling,gcc |