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ci(docker): switch CI to core-devel-humble images
- Point build-and-test, build-and-test-daily, and build-test-tidy-pr (plus the reusable workflow default) at the core-devel-humble image from the consolidated docker pipeline (autowarefoundation/autoware#7040), replacing the tag-less core-devel / universe-devel images. - Drop the stringly-typed container-suffix input on both reusable workflows. CUDA state is now derived once at workflow-env scope via contains(inputs.container, '-cuda'), removing two identical "Export CUDA state" shell steps. - Pin CCACHE_DIR=/root/.ccache in the workflows that dereference ${CCACHE_DIR} so it agrees with the /root/.ccache path used by actions/cache (the image-baked /home/aw/.ccache was diverging). - Add .github/actions/tune-dds-network composite action and apply it in both build/test jobs (container uses --cap-add=NET_ADMIN). GitHub Actions overrides the image entrypoint with tail -f /dev/null, so the entrypoint's loopback multicast + DDS tweaks never run. Mirrors the pattern from autowarefoundation/autoware_universe#12494. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
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‎.github/actions/tune-dds-network/action.yaml‎

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name: Tune DDS network settings
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description: |
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Apply the DDS tweaks that docker-entrypoint.sh would have done, since
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GitHub Actions overrides the image entrypoint with `tail -f /dev/null`.
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The calling job's container must include `--cap-add=NET_ADMIN`.
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runs:
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using: composite
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steps:
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- name: 📡 Enable multicast on loopback
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run: |
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if ip link set lo multicast on; then
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echo "✅ multicast enabled on lo"
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else
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echo "::warning title=DDS tuning::could not enable multicast on lo (NET_ADMIN missing?)"
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fi
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shell: bash
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- name: 🩹 Relax CycloneDDS receive buffer requirement
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# Bridge until autowarefoundation/autoware ships min="default" in cyclonedds.xml.
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run: |
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if [ -f /home/aw/cyclonedds.xml ]; then
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sed -i 's|min="10MB"|min="default"|' /home/aw/cyclonedds.xml
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echo "✅ patched: SocketReceiveBufferSize min=\"default\""
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else
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echo "::notice title=DDS tuning::/home/aw/cyclonedds.xml not present, skipping patch"
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fi
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shell: bash
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- name: 🔍 Show effective DDS-relevant settings
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run: |
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printf ' %-22s = %s\n' "net.core.rmem_max" "$(cat /proc/sys/net/core/rmem_max 2>/dev/null || echo unknown)"
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printf ' %-22s = %s\n' "net.ipv4.ipfrag_time" "$(cat /proc/sys/net/ipv4/ipfrag_time 2>/dev/null || echo unknown)"
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printf ' %-22s = %s\n' "net.ipv4.ipfrag_high" "$(cat /proc/sys/net/ipv4/ipfrag_high_thresh 2>/dev/null || echo unknown)"
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printf ' %-22s : %s\n' "lo flags" "$(ip -o link show lo 2>/dev/null | head -1 || echo unknown)"
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shell: bash

‎.github/workflows/build-and-test-daily.yaml‎

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@@ -9,8 +9,7 @@ jobs:
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build-and-test-daily:
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uses: ./.github/workflows/build-and-test-reusable.yaml
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with:
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container: ghcr.io/autowarefoundation/autoware:core-devel
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container-suffix: ""
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container: ghcr.io/autowarefoundation/autoware:core-devel-humble
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pull-ccache: true
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concurrency-group: build-and-test-daily-${{ github.ref }}-${{ github.run_id }}
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codecov-flag: daily

‎.github/workflows/build-and-test-differential.yaml‎

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@@ -18,10 +18,6 @@ on:
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default: true
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required: false
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type: boolean
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container-suffix:
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required: false
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default: ""
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type: string
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build-pre-command:
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required: false
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default: ""
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env:
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CC: /usr/lib/ccache/gcc
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CXX: /usr/lib/ccache/g++
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CCACHE_DIR: /root/.ccache
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BUILD_TYPE_CUDA_STATE: ${{ contains(inputs.container, '-cuda') && 'cuda' || 'nocuda' }}
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jobs:
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build-and-test-differential:
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if: ${{ inputs.run-condition }}
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runs-on: ${{ inputs.runner }}
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container: ${{ inputs.container }}${{ inputs.container-suffix }}
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container:
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image: ${{ inputs.container }}
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options: --cap-add=NET_ADMIN
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steps:
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- name: Set PR fetch depth
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run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
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ref: ${{ github.event.pull_request.head.sha }}
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fetch-depth: ${{ env.PR_FETCH_DEPTH }}
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- name: Tune DDS network settings
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uses: ./.github/actions/tune-dds-network
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- name: Show disk space before the tasks
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run: df -h
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shell: bash
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ccache --zero-stats
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shell: bash
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- name: Export CUDA state as a variable for adding to cache key
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run: |
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build_type_cuda_state=nocuda
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if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
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build_type_cuda_state=cuda
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fi
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echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
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echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
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shell: bash
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- name: Build
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if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
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uses: autowarefoundation/autoware-github-actions/colcon-build@v1
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files: ${{ steps.test.outputs.coverage-report-files }}
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fail_ci_if_error: false
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verbose: true
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flags: differential${{ inputs.container-suffix }}
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flags: differential${{ contains(inputs.container, '-cuda') && '-cuda' || '' }}
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token: ${{ secrets.codecov-token }}
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- name: Show disk space after the tasks

‎.github/workflows/build-and-test-reusable.yaml‎

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required: false
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container:
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type: string
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default: ghcr.io/autowarefoundation/autoware:universe-devel
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required: false
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container-suffix:
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type: string
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default: ""
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default: ghcr.io/autowarefoundation/autoware:core-devel-humble
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required: false
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rosdistro:
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type: string
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env:
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CC: /usr/lib/ccache/gcc
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CXX: /usr/lib/ccache/g++
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CCACHE_DIR: /root/.ccache
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BUILD_TYPE_CUDA_STATE: ${{ contains(inputs.container, '-cuda') && 'cuda' || 'nocuda' }}
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jobs:
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build-and-test:
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runs-on: ${{ fromJson(inputs.runner) }}
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container: ${{ inputs.container }}${{ inputs.container-suffix }}
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container:
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image: ${{ inputs.container }}
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options: --cap-add=NET_ADMIN
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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with:
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fetch-depth: 1
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- name: Tune DDS network settings
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uses: ./.github/actions/tune-dds-network
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- name: Show disk space before the tasks
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run: df -h
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ccache --zero-stats
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shell: bash
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- name: Export CUDA state as a variable for adding to cache key
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run: |
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build_type_cuda_state=nocuda
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if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
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build_type_cuda_state=cuda
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fi
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echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
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echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
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shell: bash
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- name: Build
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if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
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uses: autowarefoundation/autoware-github-actions/colcon-build@v1
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run: du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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# Only keep save the -cuda version because cuda packages covers non-cuda packages too
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- name: Push the ccache cache (if inputs.container-suffix == '-cuda' AND inputs.push-ccache)
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- name: Push the ccache cache
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if: ${{ inputs.push-ccache }}
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uses: actions/cache/save@v4
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with:

‎.github/workflows/build-and-test.yaml‎

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uses: ./.github/workflows/build-and-test-reusable.yaml
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with:
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runner: "['self-hosted', 'Linux', 'X64']"
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container: ghcr.io/autowarefoundation/autoware:universe-devel
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container: ghcr.io/autowarefoundation/autoware:core-devel-humble
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concurrency-group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: false
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pull-ccache: true

‎.github/workflows/build-test-tidy-pr.yaml‎

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- require-label
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uses: ./.github/workflows/build-and-test-differential.yaml
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with:
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container: ghcr.io/autowarefoundation/autoware:core-devel
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container: ghcr.io/autowarefoundation/autoware:core-devel-humble
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run-condition: ${{ needs.require-label.outputs.result == 'true' }}
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secrets:
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codecov-token: ${{ secrets.CODECOV_TOKEN }}
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- build-and-test-differential
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uses: ./.github/workflows/clang-tidy-differential.yaml
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with:
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container: ghcr.io/autowarefoundation/autoware:core-devel
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container: ghcr.io/autowarefoundation/autoware:core-devel-humble
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run-condition: true

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