Add support for interruptible ROS processes #244
Workflow file for this run
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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 |