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Add support for interruptible ROS processes #242

Add support for interruptible ROS processes

Add support for interruptible ROS processes #242

Workflow file for this run

name: ros_utilities CI
on:
pull_request:
push:
branches:
- main
env:
# Use docker.io for Docker Hub if empty
REGISTRY: ghcr.io
# github.repository as <account>/<repo>
IMAGE_NAME: bdaiinstitute/ros_utilities_jammy_humble
defaults:
run:
shell: bash
concurrency:
group: ${{ github.repository }}-${{ github.workflow }}-${{ github.ref }}-${{ github.ref == 'refs/heads/main' && github.sha || ''}}
cancel-in-progress: true
jobs:
lint:
name: Lint ros_utilities packages
runs-on: ubuntu-latest
steps:
- name: Checkout repository
uses: actions/checkout@v3
- uses: actions/setup-python@v3
- name: Lint sources
uses: pre-commit/[email protected]
prepare_container:
name: Prepare Humble container for tests
runs-on: ubuntu-latest
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
- 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 }}
id: meta
- name: Build and push 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:
name: Build and test ros_utilities packages
runs-on: ubuntu-latest
needs: prepare_container
container:
image: ${{ needs.prepare_container.outputs.image }}
steps:
- name: Checkout repository
uses: actions/checkout@v4
- name: Build and run tests
run: |
source /opt/ros/humble/setup.bash
colcon build --symlink-install
source install/setup.bash
colcon test --event-handlers console_direct+
colcon test-result --all --verbose