Update Docker build and add CircleCI + CodeCov support

.circleci/config.yml

@@ -0,0 +1,246 @@
+# `checksum.txt` derives the key for the `save_cache` and `restore_cache` steps.
+# As we can't cache onpon the state of the file system directly,
+# we instead compute a checksum of the files we wish to cache indirectly.
+# CircleCI checksums this file, a simple list of checksum values itself,
+# as part of the key to restore or break the respective cache value.
+
+version: 2.1
+references:
+  pre_checkout: &pre_checkout
+    run:
+        name: Pre Checkout
+        command: |
+          stat -c '%y' /opt/ros/$ROS_DISTRO/setup.sh | \
+            sha256sum | \
+            awk '{print "distro "$1}' > /opt/ros/$ROS_DISTRO/checksum.txt
+          cp $MOVEIT2_WS/src/moveit2/moveit2.repos $ROS_WS/
+          rm -rf $MOVEIT2_WS/*
+  post_checkout: &post_checkout
+    run:
+        name: Post Checkout
+        command: |
+          if ! cmp $MOVEIT2_WS/src/moveit2/moveit2.repos $ROS_WS/moveit2.repos >/dev/null 2>&1
+          then
+            echo "Cleaning Upstream"
+            rm -rf $ROS_WS/*
+            mkdir -p $ROS_WS/src
+            vcs import $ROS_WS/src < $MOVEIT2_WS/src/moveit2/moveit2.repos
+          fi
+  install_upstream: &install_upstream
+    run:
+        name: Install Upstream
+        command: |
+          cat /opt/ros/$ROS_DISTRO/checksum.txt > $ROS_WS/checksum.txt
+          find $ROS_WS/src -not -iwholename '*.git/*' -type f -exec sha256sum {} \; | \
+            sort -k 2 | \
+            cut -d" " -f1 | \
+            sha256sum | \
+            awk '{print "upstream source "$1}' >> $ROS_WS/checksum.txt
+          apt-get update
+          dependencies=$(
+            rosdep install -q -y \
+              --from-paths \
+                $ROS_WS/src \
+              --ignore-src \
+              --verbose | \
+            awk '$1 ~ /^resolution\:/' | \
+            awk -F'[][]' '{print $2}' | \
+            tr -d \, | xargs -n1 | sort -u | xargs)
+          dpkg -s $dependencies | \
+            sha256sum | \
+            awk '{print "upstream dependencies "$1}' >> $ROS_WS/checksum.txt
+  restore_upstream_cache: &restore_upstream_cache
+    restore_cache:
+      name: Restore Upstream Cache
+      key: upstream-cache-v1-{{ arch }}-{{ checksum "/opt/ros_ws/checksum.txt" }}
+  build_upstream: &build_upstream
+    run:
+      name: Build Upstream
+      command: |
+        cd $ROS_WS
+        if [ -d install ]
+        then
+            echo "Skipping Build Upstream"
+        else
+            . /opt/ros/$ROS_DISTRO/setup.sh
+            colcon build \
+              --symlink-install \
+              --cmake-args \
+                -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE
+        fi
+  save_upstream_cache: &save_upstream_cache
+    save_cache:
+      name: Save Upstream Cache
+      key: upstream-cache-v1-{{ arch }}-{{ checksum "/opt/ros_ws/checksum.txt" }}
+      paths:
+        - /opt/ros_ws
+  install_dependencies: &install_dependencies
+    run:
+        name: Install Dependencies
+        command: |
+          cat $ROS_WS/checksum.txt > $MOVEIT2_WS/checksum.txt
+          find $MOVEIT2_WS/src -not -iwholename '*.git/*' -type f -exec sha256sum {} \; | \
+            sort -k 2 | \
+            cut -d" " -f1 | \
+            sha256sum | \
+            awk '{print "source "$1}' >> $MOVEIT2_WS/checksum.txt
+          apt-get update
+          dependencies=$(
+            rosdep install -q -y \
+              --from-paths \
+                $ROS_WS/src \
+                src \
+              --ignore-src \
+              --verbose | \
+            awk '$1 ~ /^resolution\:/' | \
+            awk -F'[][]' '{print $2}' | \
+            tr -d \, | xargs -n1 | sort -u | xargs)
+          dpkg -s $dependencies | \
+            sha256sum | \
+            awk '{print "dependencies "$1}' >> $MOVEIT2_WS/checksum.txt
+  store_build_checksum: &store_build_checksum
+    store_artifacts:
+        path: checksum.txt
+  restore_build_cache: &restore_build_cache
+    restore_cache:
+      name: Restore Build Cache
+      key: build-cache-v1-{{ arch }}-{{ .Branch }}-{{ checksum "/opt/moveit2_ws/checksum.txt" }}
+  source_build: &source_build
+    run:
+      name: Source Build
+      command: |
+        if [ -d install ]
+        then
+            echo "Skipping Source Build"
+        else
+            . $ROS_WS/install/setup.sh
+            colcon build \
+              --symlink-install \
+              --cmake-args \
+                -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
+                -DCOVERAGE_ENABLED=$COVERAGE_ENABLED
+        fi
+  save_build_cache: &save_build_cache
+    save_cache:
+      name: Save Build Cache
+      key: build-cache-v1-{{ arch }}-{{ .Branch }}-{{ checksum "/opt/moveit2_ws/checksum.txt" }}
+      paths:
+        - /opt/moveit2_ws
+  copy_build_logs: &copy_build_logs
+    run:
+        name: Copy Build Logs
+        when: always
+        command: cp -rH log/latest_build log/build
+  store_build_logs: &store_build_logs
+    store_artifacts:
+        path: log/build
+  test_build: &test_build
+    run:
+        name: Test Build
+        command: |
+          . install/setup.sh
+          src/moveit2/tools/run_test_suite.bash
+  copy_test_logs: &copy_test_logs
+    run:
+        name: Copy Test Logs
+        when: always
+        command: cp -rH log/latest_test log/test
+  store_test_logs: &store_test_logs
+    store_artifacts:
+        path: log/test
+  report_code_coverage: &report_code_coverage
+    run:
+        name: Report Code Coverage
+        command: |
+          if [ "$COVERAGE_ENABLED" = "True" ]
+          then
+            . install/setup.sh
+            src/moveit2/moveit/scripts/code_coverage_report.bash codecovio
+          else
+            echo "Skipping Code Coverage Report"
+          fi
+
+commands:
+  checkout_source:
+    description: "Checkout Source"
+    steps:
+      - *pre_checkout
+      - checkout:
+          path: src/moveit2
+      - *post_checkout
+  setup_upstream:
+    description: "Setup Upstream"
+    steps:
+      - *install_upstream
+      - *restore_upstream_cache
+      - *build_upstream
+      - *save_upstream_cache
+  build_source:
+    description: "Build Source"
+    steps:
+      - *install_dependencies
+      - *store_build_checksum
+      - *restore_build_cache
+      - *source_build
+      - *save_build_cache
+      - *copy_build_logs
+      - *store_build_logs
+  test_source:
+    description: "Test Source"
+    steps:
+      - *test_build
+      - *copy_test_logs
+      - *store_test_logs
+  report_coverage:
+    description: "Report Coverage"
+    steps:
+      - *report_code_coverage
+
+executors:
+  docker_exec:
+    docker:
+      - image: moveit/moveit2:master
+    working_directory: /opt/moveit2_ws
+    environment:
+      MAKEFLAGS: "-j 1 -l 1"
+
+jobs:
+  debug_build:
+    executor: docker_exec
+    environment:
+      CMAKE_BUILD_TYPE: "Debug"
+      COVERAGE_ENABLED: "True"
+    steps:
+      - checkout_source
+      - setup_upstream
+      - build_source
+      - test_source
+      # - report_coverage
+  release_build:
+    executor: docker_exec
+    environment:
+      CMAKE_BUILD_TYPE: "Release"
+      COVERAGE_ENABLED: "False"
+    steps:
+      - checkout_source
+      - setup_upstream
+      - build_source
+      - test_source
+
+workflows:
+  version: 2
+  build-test:
+    jobs:
+      - debug_build
+      - release_build
+# TODO: Add cron jobs for regular tracking upstream
+  # nightly:
+  #   triggers:
+  #     - schedule:
+  #         cron: "0 0 * * *"
+  #         filters:
+  #           branches:
+  #             only:
+  #               - master
+  #   jobs:
+  #     - build

.docker/ci/Dockerfile

@@ -1,50 +1,82 @@
-# moveit/moveit:melodic-ci
-# Sets up a base image to use for running Continuous Integration on Travis
-
-FROM ros:melodic-ros-base
-MAINTAINER Dave Coleman dave@picknik.ai
-
-ENV TERM xterm
-
-# Setup catkin workspace
-ENV CATKIN_WS=/root/ws_moveit
-WORKDIR $CATKIN_WS
-
-# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
-# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
-RUN \
-    mkdir src && \
-    cd src && \
-    #
-    # Download moveit source, so that we can get necessary dependencies
-    wstool init --shallow . https://raw.githubusercontent.com/ros-planning/moveit/${ROS_DISTRO}-devel/moveit.rosinstall && \
-    #
-    # Update apt package list as previous containers clear the cache
-    apt-get -qq update && \
-    apt-get -qq dist-upgrade && \
-    #
-    # Install some base dependencies
-    apt-get -qq install -y \
-        # Some source builds require a package.xml be downloaded via wget from an external location
-        wget \
-        # Required for rosdep command
-        sudo \
-        # Preferred build tools
-        python-catkin-tools \
-        clang clang-format-3.9 clang-tidy clang-tools \
-        ccache && \
-    #
-    # Download all dependencies of MoveIt!
-    rosdep update && \
-    rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
-    #
-    # Remove the source code from this container
-    # TODO: in the future we may want to keep this here for further optimization of later containers
-    cd .. && \
-    rm -rf src/ && \
-    #
-    # Clear apt-cache to reduce image size
-    rm -rf /var/lib/apt/lists/*
-
-# Continous Integration Setting
-ENV IN_DOCKER 1
+# This dockerfile expects proxies to be set via --build-arg if needed
+# It also expects to be contained in the /moveit2 root folder for file copy
+# Example build command:
+# export http_proxy=http://my.proxy.com:80
+# export CMAKE_BUILD_TYPE=Debug
+# docker build -t nav2:latest --build-arg http_proxy --build-arg CMAKE_BUILD_TYPE ./
+FROM osrf/ros2:nightly
+
+# setup keys
+ARG http_proxy
+RUN if [ "$http_proxy" != "" ]; \
+    then \
+      apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 \
+      --keyserver-options http-proxy=$http_proxy \
+      --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116; \
+    fi
+
+# install ROS2 dependencies
+RUN apt-get update && apt-get install -q -y \
+      build-essential \
+      cmake \
+      git \
+      python3-colcon-common-extensions \
+      python3-vcstool \
+      wget \
+    && rm -rf /var/lib/apt/lists/*
+
+# copy ros package repo
+ENV MOVEIT2_WS /opt/moveit2_ws
+RUN mkdir -p $MOVEIT2_WS/src
+WORKDIR $MOVEIT2_WS/src
+COPY ./ moveit2/
+
+# clone dependency package repos
+ENV ROS_WS /opt/ros_ws
+RUN mkdir -p $ROS_WS/src
+WORKDIR $ROS_WS
+RUN vcs import src < $MOVEIT2_WS/src/moveit2/tools/ros2_dependencies.repos
+
+# install dependency package dependencies
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths \
+        src \
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
+
+# build dependency package source
+ARG CMAKE_BUILD_TYPE=Release
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+      --symlink-install \
+      --cmake-args \
+        -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE
+
+# install moveit2 package dependencies
+WORKDIR $MOVEIT2_WS
+RUN . $ROS_WS/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths \
+        $ROS_WS/src \
+        src \
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
+
+# build moveit2 package source
+RUN rm $MOVEIT2_WS/src/moveit2/nav2_system_tests/COLCON_IGNORE
+ARG COVERAGE_ENABLED=False
+RUN . $ROS_WS/install/setup.sh && \
+     colcon build \
+       --symlink-install \
+       --cmake-args \
+         -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
+         -DCOVERAGE_ENABLED=$COVERAGE_ENABLED
+
+# source moveit2 workspace from entrypoint
+RUN sed --in-place \
+      's|^source .*|source "$MOVEIT2_WS/install/setup.bash"|' \
+      /ros_entrypoint.sh