Use colcon-action (#963)

tesseract-robotics · Nov 14, 2023 · cb053ec · cb053ec
1 parent 9e65046
commit cb053ec
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Showing 4 changed files with 39 additions and 171 deletions.
diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml
@@ -45,49 +45,17 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git clang-tidy liboctomap-dev
-          python3 -m pip install vcstool -q
-          python3 -m pip install colcon-common-extensions -q
-          python3 -m pip install rosdep -q
-          rosdep init
-          rosdep update
-          cd $GITHUB_WORKSPACE/target_ws/src
-          ./.github/workflows/add_ros_apt_sources.sh
+          apt install -y clang-tidy liboctomap-dev
 
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/[email protected]
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@v1
         with:
-          path: ${{ matrix.job_type }}/.ccache
-          key: ${{ matrix.job_type }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ matrix.job_type }}-ccache-
-
-      - name: Build Upstream Workspace
-        shell: bash
-        run: |
-          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
-          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
-          cd $GITHUB_WORKSPACE/upstream_ws
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
-          if [ $? -ge 1 ]; then return 1; fi
-
-      - name: Build Target Workspace
-        shell: bash
-        run: |
-          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
-          cd $GITHUB_WORKSPACE/target_ws
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build --event-handlers console_direct+ --cmake-args ${{ matrix.env.TARGET_CMAKE_ARGS }}
-          if [ $? -ge 1 ]; then return 1; fi
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: dependencies.repos
+          run-tests: false
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args ${{ matrix.env.TARGET_CMAKE_ARGS }}
 
       - name: Upload CodeCov Results
         shell: bash

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -35,56 +35,13 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git liboctomap-dev
-          python3 -m pip install vcstool -q
-          python3 -m pip install colcon-common-extensions -q
-          python3 -m pip install rosdep -q
-          rosdep init
-          rosdep update
-          cd $GITHUB_WORKSPACE/target_ws/src
-          ./.github/workflows/add_ros_apt_sources.sh
+          apt install -y liboctomap-dev
 
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/[email protected]
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@v1
         with:
-          path: ${{ matrix.distro }}/.ccache
-          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ matrix.distro }}-ccache-
-
-      - name: Build Upstream Workspace
-        shell: bash
-        run: |
-          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
-          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
-          cd $GITHUB_WORKSPACE/upstream_ws
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
-          if [ $? -ge 1 ]; then return 1; fi
-
-      - name: Build Target Workspace
-        shell: bash
-        run: |
-          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
-          cd $GITHUB_WORKSPACE/target_ws
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
-          if [ $? -ge 1 ]; then return 1; fi
-
-      - name: Run Tests
-        shell: bash
-        run: |
-          cd $GITHUB_WORKSPACE/target_ws
-          source $GITHUB_WORKSPACE/target_ws/install/setup.bash
-          colcon test --event-handlers console_direct+ --return-code-on-test-failure
-          if [ $? -ge 1 ]; then return 1; fi
-          colcon test-result --verbose
-          if [ $? -ge 1 ]; then return 1; fi
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: dependencies.repos
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -41,56 +41,13 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git liboctomap-dev
-          python3 -m pip install vcstool -q
-          python3 -m pip install colcon-common-extensions -q
-          python3 -m pip install rosdep -q
-          rosdep init
-          rosdep update
-          cd $GITHUB_WORKSPACE/target_ws/src
-          ./.github/workflows/add_ros_apt_sources.sh
+          apt install -y liboctomap-dev
 
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/[email protected]
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@v1
         with:
-          path: ${{ matrix.distro }}/.ccache
-          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ matrix.distro }}-ccache-
-
-      - name: Build Upstream Workspace
-        shell: bash
-        run: |
-          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
-          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
-          cd $GITHUB_WORKSPACE/upstream_ws
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
-          if [ $? -ge 1 ]; then return 1; fi
-
-      - name: Build Target Workspace
-        shell: bash
-        run: |
-          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
-          cd $GITHUB_WORKSPACE/target_ws
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
-          if [ $? -ge 1 ]; then return 1; fi
-
-      - name: Run Tests
-        shell: bash
-        run: |
-          cd $GITHUB_WORKSPACE/target_ws
-          source $GITHUB_WORKSPACE/target_ws/install/setup.bash
-          colcon test --event-handlers console_direct+ --return-code-on-test-failure
-          if [ $? -ge 1 ]; then return 1; fi
-          colcon test-result --verbose
-          if [ $? -ge 1 ]; then return 1; fi
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: dependencies.repos
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
@@ -22,9 +22,9 @@ jobs:
       matrix:
         os: [windows-2019, windows-2022]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
-        path: workspace/src/tesseract
+        path: target_ws/src
 
     - name: vcpkg build
       uses: johnwason/vcpkg-action@v5
@@ -36,36 +36,22 @@ jobs:
         cache-key: ci-${{ matrix.os }}
         revision: 2023.08.09
 
-    - name: install-depends
-      shell: cmd
-      run: |
-        python -m pip install vcstool -q
-        python -m pip install colcon-common-extensions -q
-        python -m pip install ninja -q
-
     - name: configure-msvc
       uses: ilammy/msvc-dev-cmd@v1
       with:
         arch: x64
 
-    - name: build-workspace
-      working-directory: workspace
-      shell: cmd
+    - name: update environment
+      shell: bash
       run: |
-        set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release\bin
-        set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release
-        vcs import --input "${{ github.workspace }}/workspace/src/tesseract/.github/workflows/windows_dependencies.repos" src/
-        if %ERRORLEVEL% GEQ 1 exit 1
-        colcon build --event-handlers console_direct+ --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON
-        if %ERRORLEVEL% GEQ 1 exit 1
+        echo "PATH=${{ env.PATH }};$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release\bin" >> "$GITHUB_ENV"
+        echo "CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release" >> "$GITHUB_ENV"
 
-    - name: run-test
-      working-directory: workspace
-      shell: cmd
-      run: |
-        call ./install/setup.bat
-        set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release\bin
-        colcon test --event-handlers console_direct+ --return-code-on-test-failure
-        if %ERRORLEVEL% GEQ 1 exit 1
-        colcon test-result --verbose
-        if %ERRORLEVEL% GEQ 1 exit 1
+    - name: Build and Tests
+      uses: tesseract-robotics/colcon-action@v1
+      with:
+        ccache-prefix: ${{ matrix.distro }}
+        vcs-file: .github/workflows/windows_dependencies.repos
+        upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release
+        target-path: target_ws/src
+        target-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON