[pre-commit.ci] pre-commit autoupdate #33
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| name: ci | |
| on: | |
| push: | |
| branches: [master] | |
| pull_request: | |
| workflow_dispatch: {} | |
| concurrency: | |
| group: ci-${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| env: | |
| ROS_DISTRO: kilted | |
| jobs: | |
| lint: | |
| runs-on: ubuntu-24.04 | |
| container: | |
| image: osrf/ros:kilted-desktop-full-noble | |
| timeout-minutes: 15 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install lint deps | |
| shell: bash | |
| run: | | |
| set -eux | |
| apt-get update | |
| apt-get install -y --no-install-recommends python3-ruff | |
| - name: Ruff | |
| shell: bash | |
| run: | | |
| set -eux | |
| ruff check ros_ws/src/analysis ros_ws/src/bringup ros_ws/src/robot_diag_control | |
| ros-core: | |
| runs-on: ubuntu-24.04 | |
| container: | |
| image: osrf/ros:kilted-desktop-full-noble | |
| timeout-minutes: 50 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install ROS workspace deps | |
| shell: bash | |
| run: | | |
| set -eux | |
| bash scripts/ci/install_ros_workspace_deps.sh \ | |
| ros_ws/src/omniseer_gz_assets \ | |
| ros_ws/src/omniseer_msgs \ | |
| ros_ws/src/yolo_ros/yolo_msgs \ | |
| ros_ws/src/omniseer_description \ | |
| ros_ws/src/analysis \ | |
| ros_ws/src/bringup \ | |
| ros_ws/src/robot_io_adapters \ | |
| ros_ws/src/robot_diag_control \ | |
| ros_ws/src/robot_diag_control_cpp | |
| - name: Build ROS packages | |
| shell: bash | |
| run: | | |
| set -eux | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| cd ros_ws | |
| colcon build --merge-install \ | |
| --packages-select \ | |
| omniseer_gz_assets \ | |
| omniseer_msgs \ | |
| yolo_msgs \ | |
| omniseer_description \ | |
| analysis \ | |
| bringup \ | |
| robot_io_adapters \ | |
| robot_diag_control \ | |
| robot_diag_control_cpp | |
| - name: Build vision bridge when SDKs are present | |
| shell: bash | |
| run: | | |
| set -eux | |
| if command -v pkg-config >/dev/null \ | |
| && pkg-config --exists librga \ | |
| && [ -f /usr/include/rknn_api.h ] \ | |
| && find /usr/lib /usr/local/lib -name 'librknnrt.so' -print -quit | grep -q .; then | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| cd ros_ws | |
| source install/setup.bash | |
| colcon build --merge-install --packages-select omniseer_vision_bridge | |
| else | |
| echo "Skipping omniseer_vision_bridge: librga/RKNN SDK not available in CI image" | |
| fi | |
| - name: Test ROS packages | |
| shell: bash | |
| run: | | |
| set -eux | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| cd ros_ws | |
| source install/setup.bash | |
| colcon test --merge-install \ | |
| --packages-select \ | |
| omniseer_description \ | |
| analysis \ | |
| bringup \ | |
| robot_io_adapters \ | |
| robot_diag_control \ | |
| robot_diag_control_cpp | |
| colcon test-result --all --verbose | |
| - name: Upload ROS logs | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ros-core-logs | |
| if-no-files-found: ignore | |
| path: | | |
| ros_ws/log | |
| ros_ws/build/*/test_results | |
| ros_ws/build/*/Testing/Temporary | |
| bringup-smoke: | |
| runs-on: ubuntu-24.04 | |
| container: | |
| image: osrf/ros:kilted-desktop-full-noble | |
| timeout-minutes: 45 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install ROS workspace deps | |
| shell: bash | |
| run: | | |
| set -eux | |
| bash scripts/ci/install_ros_workspace_deps.sh \ | |
| ros_ws/src/omniseer_gz_assets \ | |
| ros_ws/src/omniseer_msgs \ | |
| ros_ws/src/omniseer_description \ | |
| ros_ws/src/bringup \ | |
| ros_ws/src/robot_io_adapters | |
| - name: Build bringup smoke package set | |
| shell: bash | |
| run: | | |
| set -eux | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| cd ros_ws | |
| colcon build --merge-install \ | |
| --packages-select \ | |
| omniseer_gz_assets \ | |
| omniseer_msgs \ | |
| omniseer_description \ | |
| bringup \ | |
| robot_io_adapters | |
| - name: Run headless bringup smoke test | |
| shell: bash | |
| env: | |
| OMNISEER_RUN_SIM_SMOKE: "1" | |
| OMNISEER_SMOKE_LOG_PATH: ${{ github.workspace }}/ros_ws/log/bringup_smoke/sim.launch.log | |
| run: | | |
| set -eux | |
| mkdir -p "$(dirname "${OMNISEER_SMOKE_LOG_PATH}")" | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| cd ros_ws | |
| source install/setup.bash | |
| python3 -m pytest -vv -s src/bringup/test/test_sim_launch_smoke.py | |
| - name: Upload bringup smoke logs | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: bringup-smoke-logs | |
| if-no-files-found: ignore | |
| path: | | |
| ros_ws/log | |
| ros_ws/build/*/test_results | |
| ros_ws/build/*/Testing/Temporary | |
| vision-host: | |
| runs-on: ubuntu-24.04 | |
| timeout-minutes: 15 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Build host vision tests | |
| shell: bash | |
| run: | | |
| set -eux | |
| cmake -S vision -B vision/build-ci -DVISION_BUILD_HARNESS=OFF | |
| cmake --build vision/build-ci \ | |
| --target image_buffer_pool_test jsonl_telemetry_test rolling_telemetry_test | |
| - name: Run host vision tests | |
| shell: bash | |
| run: | | |
| set -eux | |
| ctest --test-dir vision/build-ci \ | |
| -R 'image_buffer_pool_test|jsonl_telemetry_test|rolling_telemetry_test' \ | |
| --output-on-failure | |
| - name: Upload vision logs | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: vision-host-logs | |
| if-no-files-found: ignore | |
| path: | | |
| vision/build-ci/Testing/Temporary | |
| vision/build-ci/CMakeFiles/CMakeOutput.log | |
| vision/build-ci/CMakeFiles/CMakeError.log | |
| firmware-build: | |
| runs-on: ubuntu-24.04 | |
| timeout-minutes: 20 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.12" | |
| - name: Install PlatformIO | |
| shell: bash | |
| run: | | |
| set -eux | |
| python3 -m pip install --upgrade pip | |
| python3 -m pip install platformio | |
| - name: Build firmware | |
| shell: bash | |
| run: | | |
| set -eux | |
| platformio run -d firmware -e teensy41 | |
| - name: Upload firmware build outputs | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: firmware-build-artifacts | |
| if-no-files-found: ignore | |
| path: | | |
| firmware/.pio/build/teensy41 | |
| docs-build: | |
| runs-on: ubuntu-24.04 | |
| timeout-minutes: 10 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.12" | |
| - name: Build docs | |
| shell: bash | |
| run: | | |
| set -eux | |
| python3 -m pip install --upgrade pip | |
| python3 -m pip install \ | |
| mkdocs-material \ | |
| mkdocs-git-revision-date-localized-plugin | |
| mkdocs build --strict |