Add_aruco_node_to_rover_launch_py #160
Workflow file for this run
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| name: CI | |
| on: ["push", "pull_request"] | |
| jobs: | |
| # Builds and tests the ROS 2 workspace using `colcon`. | |
| # | |
| # It also scans all Python and Rust files for correctness using linting | |
| # tools like `basedpyright`, `cargo-fmt`, and `cargo-clippy`. | |
| check-ros2-workspace: | |
| # same as jetson :p | |
| runs-on: ubuntu-22.04-arm | |
| needs: [python] | |
| steps: | |
| # we'll install `node` on the "host" image if we're running on `act`... | |
| # | |
| # for more info, see: https://github.com/nektos/act/issues/973 | |
| - name: Workaround for Act runner | |
| if: ${{ env.ACT }} | |
| run: apt-get update && apt-get install curl -y && curl -fsSL https://deb.nodesource.com/setup_24.x | bash && apt-get update && apt-get install -y nodejs | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - name: ROS 2 workspace cache | |
| uses: actions/cache@v4 | |
| id: cache-ros2-build | |
| with: | |
| path: | | |
| install/ | |
| build/ | |
| key: ros2-build-${{ runner.os }}-${{ hashFiles( | |
| 'pyproject.toml', | |
| 'src/**/package.xml', | |
| 'src/**/CMakeLists.txt', | |
| 'src/**/*.py', | |
| 'src/simulator/**/*.xml' | |
| ) }} | |
| restore-keys: | | |
| ros2-build-${{ runner.os }}- | |
| # install Pixi, which is our project and environment management tool. | |
| # | |
| # this is a little slow... but if you think it's really bad, take a look | |
| # at how long `rosdep` usually takes 😭😭 | |
| - name: Install Pixi | |
| uses: prefix-dev/setup-pixi@v0.9.0 | |
| with: | |
| pixi-version: v0.49.0 | |
| cache: true | |
| # build the entire ROS 2 workspace just to ensure things work. | |
| # | |
| # this'll use colcon | |
| - name: Build ROS 2 workspace | |
| if: steps.cache-ros2-build.outputs.cache-hit != 'true' | |
| run: | | |
| eval "$(pixi shell-hook)" | |
| just build | |
| # save the completed workspace build before doing any typecks. | |
| # | |
| # otherwise, we might waste a lot of time rebuilding everything when | |
| # someone troubleshoots type problems in their Python | |
| - name: Save ROS 2 workspace before typeck | |
| id: ros2-workspace-build-save | |
| uses: actions/cache/save@v4 | |
| with: | |
| path: | | |
| install/ | |
| build/ | |
| key: ros2-build-${{ runner.os }}-${{ hashFiles( | |
| 'pyproject.toml', | |
| 'src/**/package.xml', | |
| 'src/**/CMakeLists.txt', | |
| 'src/**/*.py', | |
| 'src/simulator/**/*.xml' | |
| ) }} | |
| restore-keys: | | |
| ros2-build-${{ runner.os }}- | |
| # type check everything. | |
| # | |
| # note that, for typecking to succeed, we need to already have built the | |
| # ROS 2 workspace. (otherwise, we're going to be missing | |
| # `custom_interfaces` types!) | |
| # | |
| # so, this `basedpyright` step is put here instead of under the `python` | |
| # job, even though it would probably feel better there instead. | |
| - name: Typeck with `basedpyright` (Python) | |
| shell: bash | |
| run: | | |
| eval "$(pixi shell-hook)" | |
| . install/local_setup.bash | |
| basedpyright src/ | |
| # cache Rust workspace to speed up Rust stuff | |
| - name: Rust workspace cache (for `rustfmt` and Clippy) | |
| uses: actions/cache@v4 | |
| id: cache-rust-checks | |
| with: | |
| path: | | |
| target/ | |
| key: cache-rust-checks-${{ runner.os }}-${{ hashFiles( | |
| 'Cargo.lock', | |
| 'src/**/*.rs', | |
| 'src/**/Cargo.toml' | |
| ) }} | |
| restore-keys: | | |
| cache-rust-checks-${{ runner.os }}- | |
| # run rust lints | |
| - name: Lint with Clippy (Rust) | |
| run: | | |
| eval "$(pixi shell-hook)" | |
| cargo clippy --workspace | |
| # run the formatter | |
| - name: Format with `rustfmt` (Rust) | |
| run: | | |
| eval "$(pixi shell-hook)" | |
| cargo fmt --check | |
| - name: Run ROS 2 tests | |
| shell: bash | |
| run: | | |
| eval "$(pixi shell-hook)" | |
| . install/local_setup.bash | |
| export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp | |
| just test | |
| # Ensures that our Python code is properly formatted and contains no common | |
| # errors. | |
| # | |
| # These scans are done by a linting tool called `ruff`. | |
| python: | |
| runs-on: ubuntu-22.04-arm | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| # install node real quick | |
| - name: Workaround for Act runner | |
| if: ${{ env.ACT }} | |
| run: apt-get update && apt-get install curl -y && curl -fsSL https://deb.nodesource.com/setup_24.x | bash && apt-get update && apt-get install -y nodejs | |
| # install Pixi | |
| - name: Install Pixi | |
| uses: prefix-dev/setup-pixi@v0.9.0 | |
| with: | |
| pixi-version: v0.49.0 | |
| cache: true | |
| # check python lints | |
| - name: Lint (Python) | |
| run: pixi run ruff check | |
| # check formatting | |
| - name: Format with Ruff (Python) | |
| run: pixi run ruff format --check |