make CI run for external users

Author: Katie Hughes

.github/workflows/ci.yml

@@ -1,23 +1,10 @@
-name: CI
+name: spot_ros2 CI
 
 on:
   pull_request:
   push:
     branches:
       - main
-  workflow_call:
-    secrets:
-      CODECOV_TOKEN:
-        required: true
-
-permissions:
-    contents: write
-
-env:
-  # Use docker.io for Docker Hub if empty
-  REGISTRY: ghcr.io
-  # github.repository as <account>/<repo>
-  IMAGE_NAME: bdaiinstitute/spot_ros2_jammy_humble
 
 defaults:
   run:
@@ -42,21 +29,12 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.config.python }}
-
       - name: Lint sources
         uses: pre-commit/action@v3.0.1
   prepare_container:
-    name: Prepare Humble container for tests
+    name: Prepare spot_ros2 Humble container for tests
     runs-on: ubuntu-22.04
     needs: lint
-    permissions:
-      contents: read
-      packages: write
-      # This is used to complete the identity challenge
-      # with sigstore/fulcio when running outside of PRs.
-      id-token: write
-    outputs:
-      image: ${{ fromJSON(steps.meta.outputs.json).tags[0] }}
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
@@ -65,118 +43,63 @@ jobs:
 
       - name: Setup Docker buildx  # to workaround: https://github.com/docker/build-push-action/issues/461
         uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
-      
-      - name: Log into registry ${{ env.REGISTRY }}
-        uses: docker/login-action@v3  # https://github.com/docker/login-action
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-      
+
       - name: Extract metadata (tags, labels) for Docker
         uses: docker/metadata-action@v5  # https://github.com/docker/metadata-action
         with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          images: ${{ github.repository }}_humble
+          tags: |
+            type=schedule
+            type=ref,event=branch
+            type=ref,event=tag
+            type=ref,event=pr
+            type=sha,format=long
         id: meta
-      
-      - name: Build and push Docker image (may be cached)
+
+      - name: Build Docker image (may be cached)
         uses: docker/build-push-action@v5  # https://github.com/docker/build-push-action
         with:
           context: .
           file: .devcontainer/Dockerfile
-          push: true
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
           cache-from: type=gha
           cache-to: type=gha,mode=max
-  build_and_test_package_and_docs:
+          outputs: type=docker,dest=/tmp/humble_docker_image.tar
+          push: false
+
+      - name: Upload Docker image as artifact
+        uses: actions/upload-artifact@v4  # https://github.com/actions/upload-artifact
+        with:
+          name: humble_docker_image
+          path: /tmp/humble_docker_image.tar
+          retention-days: 7
+  build_and_test:
     name: Build and test spot_ros2 packages
     runs-on: ubuntu-22.04
     needs: prepare_container
-    container:
-      image: ${{ needs.prepare_container.outputs.image }}
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
           submodules: recursive
 
-      - run: git config --global --add safe.directory $GITHUB_WORKSPACE
-
-      - name: Build packages
-        run: |
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          colcon build --symlink-install --packages-up-to spot_driver spot_description spot_msgs spot_examples spot_ros2_control spot_common spot_controllers --cmake-args -DCMAKE_CXX_FLAGS="--coverage"
-        working-directory: ${{ github.workspace }}/../../
-
-      - name: Test non-spot-driver packages
-        run: |
-          source install/setup.bash
-          colcon test --event-handlers console_direct+ --packages-select spot_description spot_examples spot_msgs spot_common
-        working-directory: ${{ github.workspace }}/../../
-      
-      # Per https://github.com/colcon/colcon-ros/issues/151, `pytest-args` cannot be used in an ament_cmake package, so in order to pass arguments to pytest we have to run pytest directly
-      - name: Test python part of spot-driver package
-        run: |
-          source install/setup.bash
-          pytest -n auto --cov-report xml --cov-config=$GITHUB_WORKSPACE/.coveragerc --cov-report term --cov=spot_driver $GITHUB_WORKSPACE/spot_driver/test/pytests/
-        working-directory: ${{ github.workspace }}/../../
-
-      - name: Test c++ part of spot-driver packages
-        run: |
-          source install/setup.bash
-          colcon test --event-handlers console_direct+ --packages-select spot_driver
-        working-directory: ${{ github.workspace }}/../../
-
-      - name: Test spot_ros2_control
-        run: |
-          source install/setup.bash
-          colcon test --event-handlers console_direct+ --packages-select spot_ros2_control
-        working-directory: ${{ github.workspace }}/../../
-
-      - name: Generate coverage report
-        run: lcov -c -d build/spot_driver/ -o coverage_spot_driver.info --include "*/spot_driver/*" --exclude "*/test/*"
-        working-directory: ${{ github.workspace }}/../../
-
-      - name: Upload python coverage to Coveralls
-        uses: coverallsapp/github-action@v2
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          fail-on-error: false
-          flag-name: unittests-python
-          parallel: true
-          debug: true
-          files: $(find ../../ -name "coverage.xml" -type f)
-
-      - name: Upload cpp coverage to Coveralls
-        uses: coverallsapp/github-action@v2
+      - name: Download Docker image artifact
+        uses: actions/download-artifact@v5  # https://github.com/actions/download-artifact
         with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          fail-on-error: false
-          flag-name: unittests-cpp
-          debug: true
-          files: ../../coverage_spot_driver.info
-          format: lcov
+          name: humble_docker_image
+          path: /tmp
 
-      - name: Aggregate coverage
-        uses: coverallsapp/github-action@v2
-        with:
-          parallel-finished: true
-          fail-on-error: false
-          carryforward: "unittests-python, unittests-cpp"
-
-      - if: always()
-        name: Report on test results
-        run: colcon test-result --all --verbose
-        working-directory: ${{ github.workspace }}/../../
+      - name: Load Docker image
+        run: |
+          docker load -i /tmp/humble_docker_image.tar
 
-      - name: Build packages documentation
+      - name: Build and run tests
         run: |
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          pip install -r docs/requirements.txt
-          # go to documentation folder and build the .rst files
-          cd docs
-          # we don't use the --implicit-namespaces flag
-          sphinx-apidoc -f -o source/ ../ ../*setup* ../examples ../*launch.py ../*command_spot_driver.py
-          cd ..
-          sphinx-build docs _build -v
+          docker run --rm -v ${{ github.workspace }}:/workspace -w /workspace \
+            ${{ github.repository }}_humble:sha-${{ github.sha }} bash -c " \
+              source /opt/ros/humble/setup.bash; \
+              colcon build --symlink-install --packages-up-to spot_driver spot_examples spot_ros2_control; \
+              source install/setup.bash; \
+              colcon test --event-handlers console_direct+ --packages-select spot_examples spot_common spot_driver spot_ros2_control; \
+              colcon test-result --all --verbose"