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Improve comments for pick-and-place task (#238) #29

Improve comments for pick-and-place task (#238)

Improve comments for pick-and-place task (#238) #29

Workflow file for this run

# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
name: CI
on:
workflow_dispatch:
pull_request:
push:
permissions:
contents: read
pages: write
id-token: write
jobs:
ici:
strategy:
fail-fast: false
matrix:
env:
- IMAGE: noetic-source
NAME: ccov
TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
- IMAGE: noetic-source
CLANG_TIDY: true
TARGET_CMAKE_ARGS: >-
-DCMAKE_BUILD_TYPE=Release
-DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wold-style-cast"
- IMAGE: noetic-source
NAME: asan
DOCKER_RUN_OPTS: >-
-e PRELOAD=libasan.so.5
-e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions"
TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g"
env:
CATKIN_LINT: true
CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
UNDERLAY: /root/ws_moveit/install
DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master"
CCACHE_DIR: ${{ github.workspace }}/.ccache
BASEDIR: ${{ github.workspace }}/.work
CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
# perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: recursive
- name: Cache ccache
uses: rhaschke/cache@main
with:
path: ${{ env.CCACHE_DIR }}
key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
restore-keys: |
ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
ccache-${{ env.CACHE_PREFIX }}
env:
GHA_CACHE_SAVE: always
- id: ici
name: Run industrial_ci
uses: rhaschke/industrial_ci@master
env: ${{ matrix.env }}
- name: Upload ici's target_ws/install folder
uses: rhaschke/upload-ici-workspace@main
if: success() && matrix.env.CLANG_TIDY
with:
subdir: target_ws/install
- name: Upload test artifacts (on failure)
uses: actions/upload-artifact@v4
if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
with:
name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }}
path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
- name: Upload clang-tidy fixes (on failure)
uses: actions/upload-artifact@v4
if: failure() && steps.ici.outputs.clang_tidy_checks
with:
name: clang-tidy-fixes.yaml
path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml
- name: Show clang-tidy warnings
if: always() && matrix.env.CLANG_TIDY
uses: asarium/clang-tidy-action@v1
with:
fixesFile: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml
- name: Generate codecov report
uses: rhaschke/lcov-action@main
if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
with:
docker: $DOCKER_IMAGE
workdir: ${{ env.BASEDIR }}/target_ws
ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
- name: Upload codecov report
uses: codecov/codecov-action@v4
if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
with:
files: ${{ env.BASEDIR }}/target_ws/coverage.info
doc:
# https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake
if: github.repository_owner == 'moveit'
runs-on: ubuntu-latest
needs: ici
container:
image: moveit/moveit:noetic-source
steps:
- name: Checkout
uses: actions/checkout@v4
- name: Setup Pages
uses: actions/configure-pages@v5
- name: Install dependencies
run: |
apt-get update -q
apt-get install -y doxygen graphviz python3-pip ros-noetic-py-binding-tools
pip install -r core/doc/requirements.txt
- name: Download ICI workspace
uses: rhaschke/download-ici-workspace@main
- name: Build Documentation
shell: bash
run: |
source ici/setup.bash
(cd core/doc; doxygen)
sphinx-build core/doc _site
- name: Validate links
if: false
shell: bash
run: |
source ici/setup.bash
sphinx-build -W -b linkcheck core/doc _site
- name: Upload pages artifact
uses: actions/upload-pages-artifact@v3
# Deployment job
deploy:
if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/master'
runs-on: ubuntu-latest
needs: doc
environment:
name: github-pages
url: ${{ steps.deployment.outputs.page_url }}
steps:
- name: Deploy to GitHub Pages
id: deployment
uses: actions/deploy-pages@v4