Migrate from Travis to GitHub Actions #396

tylerjw · 2021-03-25T02:38:18Z

Description

This is finally here. There two features of this that are temporary. First clang-tidy filtering is implemented in my PR to industrial_ci here: ros-industrial/industrial_ci#649. I'd appreciate any reviews of that to get it merged and cleaned up. But until that happens we can use my fork.

Secondly, preparing the code coverage report is being done by a script. Eventually after this PR on industrial_ci is merged we won't need that script.

Lastly, this PR is here on the repo itself (and not from my fork) so the Actions jobs will run here.

Thank you @rhaschke for helping me get this here. I'll make a copy of this over on moveit1 also.

Also, this disables a test in moveit_servo. That test has become flaky recently and I don't know why. I'm disabling it here so it doesn't get in the way. I will work on re-enabling and debugging it in the future.

rhaschke

Thanks for this great work. I have some open questions, though.

.github/workflows/industrial_ci_action.yml

rhaschke · 2021-03-25T11:32:09Z

moveit2.repos

-  moveit2:
-    type: git
-    url: https://github.com/ros-planning/moveit2
-    version: main


I see your point of only listing upstream stuff here. But, removing the main source will probably invalidate our build-from-source instructions, which essentially reads like this: "Fetch moveit2.repos and build." They should be adapted then.

I'll prepare a PR for that. This being here breaks the CI system because it creates a vcs error when it tries to import this file and moveit2 is already there.

moveit/moveit.ros.org#577

What about vcs import --skip-existing?

This caused the docker images to not have moveit2 source code, I think we should revert and apply @henningkayser suggestion, @rhaschke @tylerjw what do you think .?

As @tylerjw already pointed out, vcs import is performed by industrial_ci. What about adding the MoveIt source explicitly in the docker image?

Because the docker build is running from the repo you should be able to use the docker COPY command to get the moveit repo in docker. See this line in the nav2 docker file: https://github.com/ros-planning/navigation2/blob/e13459441dd4895450b2f2073f73bf340823fcfe/Dockerfile#L26

codecov · 2021-03-25T16:44:48Z

Codecov Report

Merging #396 (1a1a8c8) into main (2620f7b) will decrease coverage by 0.38%.
The diff coverage is 25.00%.

@@            Coverage Diff             @@
##             main     #396      +/-   ##
==========================================
- Coverage   53.37%   52.99%   -0.37%     
==========================================
  Files         210      210              
  Lines       18814    22511    +3697     
==========================================
+ Hits        10040    11928    +1888     
- Misses       8774    10583    +1809

Impacted Files	Coverage Δ
.../planning/plan_execution/src/plan_with_sensing.cpp	`12.97% <25.00%> (-3.90%)`	⬇️
..._core/collision_detection/src/collision_common.cpp	`42.86% <0.00%> (-57.14%)`	⬇️
...moveit/move_group_interface/move_group_interface.h	`75.00% <0.00%> (-25.00%)`	⬇️
...parameterization/model_based_state_space_factory.h	`75.00% <0.00%> (-25.00%)`	⬇️
...moveit/ompl_interface/detail/constraints_library.h	`10.00% <0.00%> (-23.33%)`	⬇️
moveit_ros/moveit_servo/src/servo_calcs.cpp	`62.64% <0.00%> (-17.48%)`	⬇️
moveit_ros/moveit_servo/src/servo.cpp	`58.07% <0.00%> (-11.93%)`	⬇️
...del/include/moveit/robot_model/joint_model_group.h	`89.34% <0.00%> (-10.66%)`	⬇️
moveit_ros/moveit_servo/src/servo_parameters.cpp	`67.25% <0.00%> (-10.07%)`	⬇️
...clude/moveit/occupancy_map_monitor/occupancy_map.h	`8.34% <0.00%> (-8.33%)`	⬇️
... and 173 more

Continue to review full report at Codecov.

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rhaschke

More comments.

.github/workflows/industrial_ci_action.yml

rhaschke · 2021-03-25T16:56:47Z

.github/workflows/industrial_ci_action.yml

+        with:
+          files: ${{ env.BASEDIR }}/coverage.info
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! env.CCOV }}


What's the meaning of always() here? Seems to be redundant.

Always causes this to run even when previous steps failed (such as tests in industrial_ci).

.github/workflows/industrial_ci_action.yml

tylerjw · 2021-03-25T20:18:11Z

This one has been updated per feedback and is ready for another review @rhaschke.

tylerjw · 2021-03-25T20:54:22Z

Rebased and pushed as there was a different change merged.

henningkayser

Rebased and pushed as there was a different change merged.

Sorry ;)

... PoseTracking is also flaky, you might need to disable that one as well.

henningkayser · 2021-03-25T21:06:32Z

.github/workflows/industrial_ci_action.yml

+            IKFAST_TEST: true
+            CLANG_TIDY: true
+    env:
+      DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}


.github/workflows/industrial_ci_action.yml

henningkayser · 2021-03-25T21:11:55Z

moveit2.repos

-  moveit2:
-    type: git
-    url: https://github.com/ros-planning/moveit2
-    version: main


What about vcs import --skip-existing?

henningkayser · 2021-03-25T21:16:36Z

.github/workflows/format.yml

@@ -7,6 +7,8 @@ on:
  workflow_dispatch:
  pull_request:
  push:
+    branches:
+      - main


Should this include other branches as well, for instance feature/hybrid-planning after that one has been rebased?

I didn't know there were other branches that might be rebased on main. I'll add that one.

tylerjw · 2021-03-25T21:24:12Z

@henningkayser

What about vcs import --skip-existing?

no, because I'm not calling vcs import, industrial_ci is.

tylerjw · 2021-03-25T21:30:37Z

Sorry ;)

... PoseTracking is also flaky, you might need to disable that one as well.

I disabled it too for now. I'll create issues for the flaky tests in servo.

#397

tylerjw · 2021-03-25T22:20:12Z

@henningkayser The newest failure seems maybe related to one of the things you merged test_launch_move_group_ompl_constraints

Do you think that caused it? Any ideas on how to fix this?

tylerjw · 2021-03-25T23:09:06Z

I pushed changes suggested by @JafarAbdi. Hopefully this fixes the newly broken test.

tylerjw · 2021-03-26T00:27:18Z

It is still failing, @henningkayser @JafarAbdi any ideas?

JafarAbdi · 2021-03-26T00:33:09Z

@tylerjw Trajectory execution timeouts, can you change the following values in this file

"trajectory_execution.allowed_execution_duration_scaling": 1.5,
"trajectory_execution.allowed_goal_duration_margin": 1.0,
"trajectory_execution.allowed_start_tolerance": 0.01,

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

tylerjw requested review from henningkayser and rhaschke March 25, 2021 02:38

tylerjw changed the title ~~Migrage from Travis to GitHub Actions~~ Migrate from Travis to GitHub Actions Mar 25, 2021

tylerjw mentioned this pull request Mar 25, 2021

Migrate to GitHub Actions moveit/moveit#2562

Merged

tylerjw force-pushed the migrate-to-github-actions branch 2 times, most recently from b1f46e9 to b8c8f5b Compare March 25, 2021 05:30

rhaschke reviewed Mar 25, 2021

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tylerjw force-pushed the migrate-to-github-actions branch from 480ed0e to 0c9563a Compare March 25, 2021 16:14

tylerjw requested a review from rhaschke March 25, 2021 16:18

tylerjw mentioned this pull request Mar 25, 2021

Update install instructions for MoveIt2 moveit/moveit.ros.org#577

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rhaschke reviewed Mar 25, 2021

View reviewed changes

tylerjw force-pushed the migrate-to-github-actions branch from 0c9563a to aa0929e Compare March 25, 2021 17:15

tylerjw requested a review from rhaschke March 25, 2021 17:24

tylerjw mentioned this pull request Mar 25, 2021

Modified filter for clang-tidy ros-industrial/industrial_ci#649

Closed

tylerjw force-pushed the migrate-to-github-actions branch from aa0929e to e8f0a8d Compare March 25, 2021 20:53

henningkayser approved these changes Mar 25, 2021

View reviewed changes

tylerjw force-pushed the migrate-to-github-actions branch 2 times, most recently from 977a72f to 7fd8848 Compare March 25, 2021 21:28

tylerjw force-pushed the migrate-to-github-actions branch from 3e70582 to 4968370 Compare March 26, 2021 00:35

tylerjw and others added 2 commits March 25, 2021 18:36

Migrate from Travis to GitHub Actions ⏳✅

6736e97

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

Fix error in test_launch_move_group_ompl_constraints

1a1a8c8

tylerjw force-pushed the migrate-to-github-actions branch from 4968370 to 1a1a8c8 Compare March 26, 2021 00:36

rhaschke approved these changes Mar 26, 2021

View reviewed changes

rhaschke merged commit ef63fe6 into main Mar 26, 2021

delete-merged-branch bot deleted the migrate-to-github-actions branch March 26, 2021 07:14

tylerjw restored the migrate-to-github-actions branch March 26, 2021 13:57

tylerjw deleted the migrate-to-github-actions branch March 26, 2021 13:57

MikeWrock pushed a commit to MikeWrock/moveit2 that referenced this pull request Aug 15, 2022

Cleanup README (moveit#396)

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Migrate from Travis to GitHub Actions #396

Migrate from Travis to GitHub Actions #396

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Migrate from Travis to GitHub Actions #396

Migrate from Travis to GitHub Actions #396

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