mujoco_ros2_control/.github/workflows/ci.yaml at main · ros-controls/mujoco_ros2_control · GitHub

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name: build_and_test

on:
  push:
    tags:
      - '*'
    branches:
      - main
      - humble
      - jazzy
      - '*-devel'
  pull_request:
    types:
      - opened
      - synchronize
      - reopened
      - ready_for_review
    branches:
      - '*'
  workflow_dispatch:

# Do not run multiple jobs for the same branch
concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build_and_test:
    timeout-minutes: 15
    strategy:
      matrix:
        ros_distro: [humble, jazzy, kilted, rolling]
    runs-on: ubuntu-latest
    steps:
      - name: Checkout code
        uses: actions/checkout@v6
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v4
      - name: Docker metadata
        id: meta
        uses: docker/metadata-action@v6
        with:
          images: mujoco_ros2_control
          tags: |
            type=ref,event=branch
            type=ref,event=pr
      - name: Build and push
        uses: docker/build-push-action@v7
        with:
          context: .
          file: docker/Dockerfile
          tags: ${{ steps.meta.outputs.tags }}
          target: mujoco_ros
          build-args: |
            ROS_DISTRO=${{ matrix.ros_distro }}
          push: false
          load: true
          cache-from: type=gha,scope=ros-${{ matrix.ros_distro }}
          cache-to: type=gha,mode=max,scope=ros-${{ matrix.ros_distro }}
      - name: Run tests
        run: |
          docker run --rm \
            ${{ steps.meta.outputs.tags }} \
            bash -c "
              colcon test &&
              colcon test-result --verbose
            "

  pixi_jazzy_build_and_test:
    timeout-minutes: 15
    env:
      SCCACHE_DIR: ${{ github.workspace }}/.sccache
    runs-on: ubuntu-latest
    steps:
      - name: Check out repository
        uses: actions/checkout@v6
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v4
      - name: Build Docker image
        uses: docker/build-push-action@v7
        with:
          context: .
          file: docker/Dockerfile.pixi
          push: false
          load: true
          tags: mujoco_ros2_control_pixi:ci
          cache-from: type=gha
          cache-to: type=gha,mode=max
      - name: Cache sccache
        uses: actions/cache@v5
        with:
          path: |
            ${{ env.SCCACHE_DIR }}
          key: ${{ runner.os }}-sccache-${{ github.head_ref || github.ref_name }}
          restore-keys: |
            ${{ runner.os }}-sccache-main
            ${{ runner.os }}-sccache-
      # Run pixi jobs, and ensure the cache is world readable.
      - name: Build and test in container
        run: |
          docker run --rm \
            -v ${{ github.workspace }}:/workspace \
            -v ${{ github.workspace }}/.sccache:/workspace/.sccache \
            -w /workspace \
            -e SCCACHE_DIR=/workspace/.sccache \
            mujoco_ros2_control_pixi:ci \
            bash -c "
              pixi run setup-colcon && \
              pixi run build && \
              pixi run test && \
              pixi run test-result && \
              chmod -R a+rwX /workspace/.sccache
            "