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Update CI for branches #121

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merged 2 commits into from
Jul 25, 2024
Merged

Update CI for branches #121

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5c14f82
use correct images
fred-labs Jul 25, 2024
d98e9f4
use correct images
fred-labs Jul 25, 2024
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9 changes: 5 additions & 4 deletions .github/workflows/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
# Use the ROS Humble desktop-full image as the base
FROM osrf/ros:humble-desktop-full
ARG ROS_DISTRO=humble
# Use the ROS desktop-full image as the base
FROM osrf/ros:${ROS_DISTRO}-desktop-full

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# Install system dependencies
# hadolint ignore=DL3008
Expand All @@ -11,8 +12,8 @@ RUN --mount=type=bind,source=.,target=/scenario_execution \
tk \
libgl1 && \
xargs -a /scenario_execution/deb_requirements.txt apt-get install -y --no-install-recommends && \
rosdep update --rosdistro=humble && \
rosdep install --rosdistro=humble --from-paths /scenario_execution/ --ignore-src -r -y && \
rosdep update --rosdistro=${ROS_DISTRO} && \
rosdep install --rosdistro=${ROS_DISTRO} --from-paths /scenario_execution/ --ignore-src -r -y && \
rm -rf /var/lib/apt/lists/*

# hadolint ignore=DL3042
Expand Down
4 changes: 3 additions & 1 deletion .github/workflows/image.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -39,4 +39,6 @@ jobs:
context: .
file: .github/workflows/Dockerfile
push: true
tags: ghcr.io/intellabs/scenario-execution:humble
tags: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
build-args: |
ROS_DISTRO=${{ github.ref == 'refs/heads/main' && 'humble' || github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}
57 changes: 28 additions & 29 deletions .github/workflows/test_build.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ jobs:
#TODO model dependency to image-workflow. Workaround: retrigger run after image-workflow finished.
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -24,7 +24,7 @@ jobs:
- name: Build
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
colcon build --continue-on-error
source install/setup.bash
- name: Cache Build
Expand All @@ -37,7 +37,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -50,7 +50,7 @@ jobs:
- name: Test
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
export -n CYCLONEDDS_URI
export ROS_DOMAIN_ID=2
Expand All @@ -74,7 +74,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -87,7 +87,7 @@ jobs:
- name: Test
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
export -n CYCLONEDDS_URI
export ROS_DOMAIN_ID=2
Expand All @@ -109,7 +109,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -122,7 +122,7 @@ jobs:
- name: Test Scenario Files
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
find . -name "*.osc" | grep -Ev "lib_osc/*|examples/example_scenario_variation|scenario_coverage|fail*|install|build" | while read -r file; do
echo "$file";
Expand All @@ -132,7 +132,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -145,7 +145,7 @@ jobs:
- name: Test Example Scenario
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
#shellcheck disable=SC1083
scenario_batch_execution -i examples/example_scenario/ -o test_example_scenario -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
Expand All @@ -159,7 +159,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -172,7 +172,7 @@ jobs:
- name: Test Example Library
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
# shellcheck disable=SC1083
scenario_batch_execution -i examples/example_library/scenarios -o test_example_library -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
Expand All @@ -186,7 +186,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -199,7 +199,7 @@ jobs:
- name: Test Example Variation
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
scenario_variation -o scenario_variation_out examples/example_scenario_variation/example_scenario_variation.osc
# shellcheck disable=SC1083
Expand All @@ -214,7 +214,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -227,7 +227,7 @@ jobs:
- name: Test Example Nav2
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
Xvfb :1 -screen 0 800x600x16 &
export DISPLAY=:1.0
Expand All @@ -247,7 +247,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -260,7 +260,7 @@ jobs:
- name: Test Example Simulation
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
Xvfb :1 -screen 0 800x600x16 &
export DISPLAY=:1.0
Expand All @@ -280,7 +280,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -293,7 +293,7 @@ jobs:
- name: Test Example Multirobot
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
Xvfb :1 -screen 0 800x600x16 &
export DISPLAY=:1.0
Expand All @@ -313,7 +313,7 @@ jobs:
if: always()
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source /rosbag2_to_video/install/setup.bash
ros2 bag to_video -t /static_camera/image_raw -o test_example_multirobot/example_multi_robot/example-multi-robot.mp4 test_example_multirobot/example_multi_robot/rosbag2_* --fps 5 --codec mp4v
- name: Upload video
Expand All @@ -332,7 +332,7 @@ jobs:
needs: [build]
runs-on: intellabs-01
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -345,7 +345,7 @@ jobs:
- name: Test Example External Method
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
export -n CYCLONEDDS_URI
export ROS_DOMAIN_ID=2
Expand All @@ -362,7 +362,7 @@ jobs:
runs-on: intellabs-01
timeout-minutes: 30
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -375,7 +375,7 @@ jobs:
- name: Test Scenario Execution Gazebo
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
Xvfb :1 -screen 0 800x600x16 &
export DISPLAY=:1.0
Expand All @@ -395,7 +395,7 @@ jobs:
runs-on: intellabs-01
timeout-minutes: 10
container:
image: ghcr.io/intellabs/scenario-execution:humble
image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
credentials:
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
Expand All @@ -408,7 +408,7 @@ jobs:
- name: Test Scenario Execution PyBullet
shell: bash
run: |
source /opt/ros/humble/setup.bash
source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
source install/setup.bash
Xvfb :1 -screen 0 800x600x16 &
export DISPLAY=:1.0
Expand Down Expand Up @@ -467,5 +467,4 @@ jobs:
downloaded-artifacts/test-example-multirobot-result/test.xml
downloaded-artifacts/test-example-external-method-result/test.xml
downloaded-artifacts/test-scenario-execution-gazebo/test.xml
downloaded-artifacts/test-scenario-execution-pybullet/test.xml

downloaded-artifacts/test-scenario-execution-pybullet/test.xml
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