mola_state_estimation/.github/workflows/build-ros.yml at 373541bab2a81cfa1df4756bc9652deace0d2330 · MOLAorg/mola_state_estimation · GitHub

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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