[CI] Reusable CI

.github/workflows/asan.yaml

@@ -2,52 +2,18 @@ name: asan
 on:
   pull_request:
   schedule:
-    - cron: '42 0 * * *'
+    - cron: '23 0 * * *'
+  workflow_dispatch:
 
 jobs:
-  asan:
-    name: asan
-    runs-on: ubuntu-22.04
-    container:
-      image: osrf/ros:iron-desktop-jammy
-    steps:
-      - name: create_blacklist
-        run: |
-          mkdir -p ${{ github.workspace }}/
-          touch ${{ github.workspace }}/blacklist.txt
-          echo "fun:*Eigen*" > ${{ github.workspace }}/blacklist.txt
-      - name: install_clang_and_tools
-        run: sudo apt update && sudo apt install -y clang clang-tools lld wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
-      - name: build_and_test
-        uses: ros-tooling/[email protected]
-        env:
-          CC: clang -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
-          CXX: clang++ -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
-        with:
-          target-ros2-distro: iron
-          # build all packages listed in the meta package
-          package-name: |
-            rmf_traffic
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["asan-gcc"],
-                "cmake-args": [
-                   "-DCMAKE_BUILD_TYPE=Debug"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - name: Upload failed test results
-        uses: actions/upload-artifact@v2
-        if: failure()
-        with:
-          name: test-results
-          path: ros_ws/build/*/test_results/*/*.catch2.xml
-      - name: upload_test_stream
-        uses: actions/upload-artifact@v2
-        with:
-          name: colcon-test-logs
-          path: ${{ steps.build_and_test.outputs.ros-workspace-directory-name }}/log
-        if: always()
+  build_and_test:
+    name: rmf_traffic-asan
+    uses: open-rmf/rmf_ci_templates/.github/workflows/reusable_asan.yaml@main
+    with:
+      dist-matrix: |
+          [{"ros_distribution": "humble",
+            "ubuntu_distribution": "jammy"}]
+      # NOTE: Avoid adding comments in the package lines, this can break some of the called scripts in github actions
+      packages: |
+        rmf_traffic
+        rmf_traffic_examples

.github/workflows/build.yaml

@@ -1,68 +1,16 @@
 name: build
 on:
-  push:
   pull_request:
   schedule:
     - cron: '55 0 * * *'
+  workflow_dispatch:
 
 jobs:
   build_and_test:
-    name: Build and test
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        ros_distribution:
-          - humble
-          - iron
-          - rolling
-        include:
-          # Humble Hawksbill (May 2022 - May 2027)
-          - ubuntu_distribution: jammy
-            ros_distribution: humble
-            ros_version: 2
-          # Iron Irwini (May 2023 - November 2024)
-          - ubuntu_distribution: jammy
-            ros_distribution: iron
-            ros_version: 2
-          # Rolling Ridley (No End-Of-Life)
-          - ubuntu_distribution: jammy
-            ros_distribution: rolling
-            ros_version: 2
-    container:
-      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-${{ matrix.ubuntu_distribution }}
-    steps:
-      - name: pwd
-        run: pwd
-      - name: setup ROS environment
-        uses: ros-tooling/[email protected]
-        with:
-          required-ros-distributions: ${{ matrix.ros_distribution }}
-      - name: build
-        uses: ros-tooling/[email protected]
-        with:
-          target-ros2-distro: ${{ matrix.ros_distribution }}
-          # build all packages listed in the meta package
-          package-name: |
-            rmf_traffic
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - name: Upload failed test results
-        uses: actions/upload-artifact@v2
-        if: failure()
-        with:
-          name: test-results
-          path: ros_ws/build/*/test_results/*/*.catch2.xml
-      - name: Upload coverage to Codecov
-        uses: codecov/codecov-action@v1
-        with:
-          files: ros_ws/lcov/total_coverage.info
-          flags: tests
-          name: lean_and_mean_codecov_bot
-
+    name: rmf_traffic-build
+    uses: open-rmf/rmf_ci_templates/.github/workflows/reusable_build.yaml@main
+    with:
+      # NOTE: Avoid adding comments in the packages lines, this can break some of the called scripts in github actions
+      packages: |
+        rmf_traffic
+        rmf_traffic_examples

.github/workflows/tsan.yaml

@@ -1,49 +1,19 @@
 name: tsan
+
 on:
   pull_request:
-  schedule:
-    - cron: '36 0 * * *'
+  workflow_dispatch:
 
 jobs:
-  tsan:
-    name: tsan
-    runs-on: ubuntu-22.04
-    container:
-      image: osrf/ros:iron-desktop-jammy
-    steps:
-      - name: install_clang_and_tools
-        run: sudo apt update && sudo apt install -y clang clang-tools lld wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
-      - name: tsan_build_test
-        env:
-          CC: clang
-          CXX: clang++
-        uses: ros-tooling/[email protected]
-        id: tsan_build_test
-        with:
-          target-ros2-distro: iron
-          # build all packages listed in the meta package
-          package-name: |
-            rmf_traffic
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["tsan"],
-                "cmake-args": ["-DCMAKE_BUILD_TYPE=Debug"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - name: Upload failed test results
-        uses: actions/upload-artifact@v2
-        if: failure()
-        with:
-          name: test-results
-          path: ros_ws/build/*/test_results/*/*.catch2.xml
-      - name: upload_test_stream
-        uses: actions/upload-artifact@v2
-        with:
-          name: colcon-test-logs
-          path: ${{ steps.tsan_build_test.outputs.ros-workspace-directory-name }}/log
-        if: always()
-
+  tsan_test:
+    name: rmf_traffic-tsan
+    uses: open-rmf/rmf_ci_templates/.github/workflows/reusable_build.yaml@main
+    with:
+      dist-matrix: |
+          [{"ros_distribution": "humble",
+            "ubuntu_distribution": "jammy"}]
+      # NOTE: Avoid adding comments in the package lines, this can break some of the called scripts in github actions
+      packages: |
+        rmf_traffic
+        rmf_traffic_examples
+      mixin: tsan