Add Constraints to ComputeIK #815
Workflow file for this run
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| # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | |
| # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | |
| name: CI | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| permissions: | |
| contents: read | |
| pages: write | |
| id-token: write | |
| jobs: | |
| ici: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - IMAGE: noetic-source | |
| NAME: ccov | |
| TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage" | |
| - IMAGE: noetic-source | |
| CLANG_TIDY: true | |
| TARGET_CMAKE_ARGS: >- | |
| -DCMAKE_BUILD_TYPE=Release | |
| -DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wold-style-cast" | |
| - IMAGE: noetic-source | |
| NAME: asan | |
| DOCKER_RUN_OPTS: >- | |
| -e PRELOAD=libasan.so.5 | |
| -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions" | |
| TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g" | |
| env: | |
| CATKIN_LINT: true | |
| CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml | |
| DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }} | |
| UNDERLAY: /root/ws_moveit/install | |
| DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master" | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| BASEDIR: ${{ github.workspace }}/.work | |
| CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}" | |
| # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing | |
| CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }} | |
| CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} | |
| CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} | |
| name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: Cache ccache | |
| uses: rhaschke/cache@main | |
| 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 }} | |
| env: | |
| GHA_CACHE_SAVE: always | |
| - id: ici | |
| name: Run industrial_ci | |
| uses: rhaschke/industrial_ci@master | |
| env: ${{ matrix.env }} | |
| - name: Upload ici's target_ws/install folder | |
| uses: rhaschke/upload-ici-workspace@main | |
| if: success() && matrix.env.CLANG_TIDY | |
| with: | |
| subdir: target_ws/install | |
| - name: Upload test artifacts (on failure) | |
| uses: actions/upload-artifact@v4 | |
| if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | |
| with: | |
| name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }} | |
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | |
| - name: Upload clang-tidy fixes (on failure) | |
| uses: actions/upload-artifact@v4 | |
| if: failure() && steps.ici.outputs.clang_tidy_checks | |
| with: | |
| name: clang-tidy-fixes.yaml | |
| path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml | |
| - name: Show clang-tidy warnings | |
| if: always() && matrix.env.CLANG_TIDY | |
| uses: asarium/clang-tidy-action@v1 | |
| with: | |
| fixesFile: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml | |
| - name: Generate codecov report | |
| uses: rhaschke/lcov-action@main | |
| if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| docker: $DOCKER_IMAGE | |
| workdir: ${{ env.BASEDIR }}/target_ws | |
| ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"' | |
| - name: Upload codecov report | |
| uses: codecov/codecov-action@v4 | |
| if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| files: ${{ env.BASEDIR }}/target_ws/coverage.info | |
| doc: | |
| # https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake | |
| if: github.repository_owner == 'moveit' | |
| runs-on: ubuntu-latest | |
| needs: ici | |
| container: | |
| image: moveit/moveit:noetic-source | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Setup Pages | |
| uses: actions/configure-pages@v5 | |
| - name: Install dependencies | |
| run: | | |
| apt-get update -q | |
| apt-get install -y doxygen graphviz python3-pip ros-noetic-py-binding-tools | |
| pip install -r core/doc/requirements.txt | |
| - name: Download ICI workspace | |
| uses: rhaschke/download-ici-workspace@main | |
| - name: Build Documentation | |
| shell: bash | |
| run: | | |
| source ici/setup.bash | |
| (cd core/doc; doxygen) | |
| sphinx-build core/doc _site | |
| - name: Validate links | |
| if: false | |
| shell: bash | |
| run: | | |
| source ici/setup.bash | |
| sphinx-build -W -b linkcheck core/doc _site | |
| - name: Upload pages artifact | |
| uses: actions/upload-pages-artifact@v3 | |
| # Deployment job | |
| deploy: | |
| if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/master' | |
| runs-on: ubuntu-latest | |
| needs: doc | |
| environment: | |
| name: github-pages | |
| url: ${{ steps.deployment.outputs.page_url }} | |
| steps: | |
| - name: Deploy to GitHub Pages | |
| id: deployment | |
| uses: actions/deploy-pages@v4 |