Update CI configration to supprot galactic and rolling (UniversalRobo…

…ts#142) * Make binary build really a build based on released binaries only. * Add binary builds for galactic and rolling. * Base coverage build on rolling. * Add source builds for all distros and correct the branch names there. * Unify files for better maintability. * Correct names and add semi-binary build. * Add CI description into README.md * Delete ci-ursim.yml * Update CI with non-released packages setup for each distro. * Correct spelling. * Update Universal_Robots_ROS2_Driver-not-released.rolling.repos * Add ccache to binary build. * Add ccache into semi-binary build. * Separate CI configuraitons. * Update ci-build-binary-foxy.yml * Update ci-build-binary-galactic.yml * Update ci-build-binary-rolling.yml * Update ci-build-binary-foxy.yml * Update ci-build-binary-galactic.yml * Remove foxy builds from main CI workflows. * Remove deprecated code. * Correct compilation on rolling.
sjahr · Sep 9, 2021 · 5dd56d9 · 5dd56d9
1 parent 4cde711
commit 5dd56d9
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diff --git a/.github/workflows/ci-build-binary-galactic.yml b/.github/workflows/ci-build-binary-galactic.yml
@@ -0,0 +1,61 @@
+name: Binary Build - Galactic
+on:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '43 8 * * *'
+
+jobs:
+  galactic_binary:
+    name: galactic binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: galactic, ROS_REPO: main}
+          - {ROS_DISTRO: galactic, ROS_REPO: testing}
+    env:
+      UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver-not-released.${{ matrix.env.ROS_DISTRO }}.repos
+      DOCKER_RUN_OPTS: --network static_test_net
+      BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
+      IMMEDIATE_TEST_OUTPUT: true
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    steps:
+      - uses: actions/checkout@v1
+      - name: start ursim
+        run: |
+          .github/dockerursim/build_and_run_docker_ursim.sh
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        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 }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/ci-build-binary-rolling.yml b/.github/workflows/ci-build-binary-rolling.yml
@@ -0,0 +1,61 @@
+name: Binary Build - Rolling
+on:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '43 8 * * *'
+
+jobs:
+  rolling_binary:
+    name: rolling binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
+          - {ROS_DISTRO: rolling, ROS_REPO: testing}
+    env:
+      UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver-not-released.${{ matrix.env.ROS_DISTRO }}.repos
+      DOCKER_RUN_OPTS: --network static_test_net
+      BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
+      IMMEDIATE_TEST_OUTPUT: true
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    steps:
+      - uses: actions/checkout@v1
+      - name: start ursim
+        run: |
+          .github/dockerursim/build_and_run_docker_ursim.sh
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        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 }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/ci-build-binary.yml b/.github/workflows/ci-build-binary.yml
diff --git a/.github/workflows/ci-build-coverage.yml b/.github/workflows/ci-build-coverage.yml
@@ -1,13 +1,8 @@
 name: Coverage Build
 on:
   pull_request:
-  push:
     branches:
-      - master
-      - develop
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '58 8 * * *'
+      - main
 
 jobs:
   coverage:
@@ -18,14 +13,14 @@ jobs:
     steps:
       - uses: ros-tooling/[email protected]
         with:
-          required-ros-distributions: foxy
+          required-ros-distributions: rolling
       - uses: actions/checkout@v1
       - name: start ursim
         run: |
           .github/dockerursim/build_and_run_docker_ursim.sh
       - uses: ros-tooling/[email protected]
         with:
-          target-ros2-distro: foxy
+          target-ros2-distro: rolling
           # build all packages listed in the meta package
           package-name:
             ur_bringup

diff --git a/.github/workflows/ci-build-semi-binary.yml b/.github/workflows/ci-build-semi-binary.yml
@@ -0,0 +1,63 @@
+name: Semi-Binary Build
+on:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '43 8 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: galactic, ROS_REPO: main}
+          - {ROS_DISTRO: galactic, ROS_REPO: testing}
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
+          - {ROS_DISTRO: rolling, ROS_REPO: testing}
+    env:
+      UPSTREAM_WORKSPACE: Universal_Robots_ROS2_Driver.repos
+      DOCKER_RUN_OPTS: --network static_test_net
+      BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
+      IMMEDIATE_TEST_OUTPUT: true
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    steps:
+      - uses: actions/checkout@v1
+      - name: start ursim
+        run: |
+          .github/dockerursim/build_and_run_docker_ursim.sh
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        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 }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/ci-build-source.yml b/.github/workflows/ci-build-source.yml
@@ -2,23 +2,61 @@ name: Source Build
 on:
   push:
     branches:
-      - master
-      - develop
+      - main
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '43 1 * * *'
 
 jobs:
-  source:
-    name: source build
+  galactic_source:
+    name: galactic source build
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
     steps:
       - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: galactic
+      - uses: actions/checkout@v1
+      - name: start ursim
+        run: |
+          .github/dockerursim/build_and_run_docker_ursim.sh
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: galactic
+          # build all packages listed in the meta package
+          package-name:
+            ur_bringup
+            ur_controllers
+            ur_dashboard_msgs
+            ur_description
+            ur_moveit_config
+            ur_robot_driver
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros2/ros2/galactic/ros2.repos
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver.repos
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log
+
+  rolling_source:
+    name: rolling source build
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: rolling
+      - uses: actions/checkout@v1
+      - name: start ursim
+        run: |
+          .github/dockerursim/build_and_run_docker_ursim.sh
       - uses: ros-tooling/[email protected]
         with:
-          target-ros2-distro: foxy
+          target-ros2-distro: rolling
           # build all packages listed in the meta package
           package-name:
             ur_bringup
@@ -28,7 +66,7 @@ jobs:
             ur_moveit_config
             ur_robot_driver
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos
+            https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver.repos
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
       - uses: actions/upload-artifact@v1

diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
@@ -8,8 +8,7 @@ on:
   pull_request:
   push:
     branches:
-      - master
-      - develop
+      - main
 
 jobs:
   pre-commit:

diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
@@ -15,7 +15,7 @@ jobs:
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:
-        distribution: foxy
+        distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
           ur_bringup
@@ -37,7 +37,7 @@ jobs:
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:
-        distribution: foxy
+        distribution: rolling
         linter: cpplint
         arguments: "--linelength=120"
         package-name:

diff --git a/.github/workflows/ci-ursim.yml b/.github/workflows/ci-ursim.yml
-Original file line number
+Diff line change
@@ Expand Up / @@ -8,8 +8,7 @@ on: @@
       pull_request:
       push:
         branches:
-          - master
-          - develop
+          - main
     jobs:
       pre-commit:
@@ Expand Down @@