ci: bump actions/cache from 5 to 6 (#70) #148
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| # Copyright 2025 Enactic, Inc. | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| name: Release | |
| on: | |
| - push | |
| - pull_request | |
| jobs: | |
| build: | |
| name: Build | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| id: | |
| - "rolling" | |
| - "kilted" | |
| - "jazzy" | |
| - "humble" | |
| steps: | |
| - uses: actions/checkout@v7 | |
| - name: Build URDF files | |
| run: | | |
| docker container run \ | |
| --rm \ | |
| --volume ${PWD}:/source \ | |
| osrf/ros:${{ matrix.id }}-desktop-full \ | |
| bash -c ' | |
| cd /source | |
| colcon build | |
| source install/setup.bash | |
| mkdir -p urdf_output | |
| # v1.0 bimanual | |
| xacro assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro \ | |
| arm_type:=v10 bimanual:=true \ | |
| > urdf_output/openarm_v10_bimanual_${{ matrix.id }}.urdf | |
| # v2.0 bimanual | |
| xacro assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro \ | |
| robot_preset:=default_bimanual \ | |
| > urdf_output/openarm_v20_bimanual_${{ matrix.id }}.urdf' | |
| - uses: actions/upload-artifact@v7 | |
| with: | |
| name: urdf-${{ matrix.id }} | |
| path: urdf_output/*.urdf | |
| publish: | |
| name: Publish | |
| needs: build | |
| runs-on: ubuntu-latest | |
| environment: release | |
| permissions: | |
| contents: write | |
| discussions: write | |
| steps: | |
| - name: Set environments | |
| run: | | |
| if [ "${GITHUB_REF_TYPE}" = "tag" ]; then | |
| echo "VERSION=${GITHUB_REF_NAME}" >> ${GITHUB_ENV} | |
| else | |
| echo "VERSION=x.y.z" >> ${GITHUB_ENV} | |
| fi | |
| if [ "${GITHUB_EVENT_NAME}" = "pull_request" ]; then | |
| echo "REF=${GITHUB_SHA}" >> ${GITHUB_ENV} | |
| else | |
| echo "REF=${GITHUB_REF_NAME}" >> ${GITHUB_ENV} | |
| fi | |
| - uses: actions/checkout@v7 | |
| - uses: actions/download-artifact@v8 | |
| with: | |
| pattern: urdf-* | |
| path: artifacts | |
| merge-multiple: true | |
| - name: Create source archive | |
| run: | | |
| name="openarm-description-${VERSION}" | |
| git archive --format=tar ${REF} \ | |
| --prefix "${name}/" \ | |
| --output "${name}.tar" | |
| mkdir "${name}" | |
| mv artifacts "${name}/urdf" | |
| find "${name}/urdf" -type f | tar -rf "${name}.tar" -T - | |
| gzip "${name}.tar" | |
| sha256sum "${name}.tar.gz" > "${name}.tar.gz.sha256" | |
| sha512sum "${name}.tar.gz" > "${name}.tar.gz.sha512" | |
| - uses: actions/upload-artifact@v7 | |
| with: | |
| name: source-archive | |
| path: openarm-description-*.tar.gz* | |
| - name: Create GitHub Release | |
| if: github.ref_type == 'tag' | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| gh release create ${GITHUB_REF_NAME} \ | |
| --discussion-category Announcements \ | |
| --generate-notes \ | |
| --repo ${GITHUB_REPOSITORY} \ | |
| --title "OpenArm Description ${VERSION}" \ | |
| --verify-tag \ | |
| openarm-description-${VERSION}.tar.gz* | |
| - name: Post to Discord | |
| if: github.ref_type == 'tag' | |
| env: | |
| DISCORD_WEBHOOK_URL: ${{ secrets.DISCORD_WEBHOOK_URL }} | |
| GH_TOKEN: ${{ github.token }} | |
| run: | | |
| gh api "repos/${GITHUB_REPOSITORY}/releases/generate-notes" \ | |
| --raw-field tag_name="${GITHUB_REF_NAME}" \ | |
| --raw-field configuration_file_path=.github/release-notification.yml \ | |
| --jq .body | | |
| sed 's/<!--[^>]*-->//g' | | |
| tee content.md | |
| echo "## Help and Feedback" | tee -a content.md | |
| echo "If you have any URDF related problems or improvements, please file them to https://github.com/enactic/openarm_description/issues and/or https://github.com/enactic/openarm_description/pulls !" | tee -a content.md | |
| curl --request POST "${DISCORD_WEBHOOK_URL}" \ | |
| --header "Content-Type: application/json" \ | |
| --data "$(jq --null-input \ | |
| --arg thread_name "OpenArm Description ${VERSION}" \ | |
| --arg content "$(cat content.md)" \ | |
| '{thread_name: $thread_name, content: $content}')" |