Merge pull request #990 from ruffsl/rmw

Extend CI Workflow to test multiple RMW

.dockerhub/debug/Dockerfile

@@ -0,0 +1 @@
+../../Dockerfile

.dockerhub/debug/dummy.Dockerfile

@@ -0,0 +1,12 @@
+# This is a dummy Dockerfile for setting repository links on Docker Hub.
+# Build rules on Docker Hub can trigger whenever the base image updates.
+# Base images are specified in the FROM: directive in the tracked Dockerfile.
+# However, build args are used by the build hooks to adjust the base image
+# so a single Dockerfile can be reused for multiple CI jobs, reducing maintenance.
+# To re-enable repository linking when using build args in the FROM: directive,
+# this dummy Dockerfile explicitly conveys the base image/repo to link against
+# while build rules that target this still use the same hook in this directory.
+# Note: This only works for non-official images.
+
+FROM osrf/ros2:nightly
+RUN echo "This is a dummy Dockerfile."

.dockerhub/debug/hooks/build

@@ -0,0 +1,14 @@
+#!/bin/bash
+set -ex
+
+FROM_IMAGE=osrf/ros2:nightly
+FAIL_ON_BUILD_FAILURE=""
+UNDERLAY_MIXINS="debug ccache"
+OVERLAY_MIXINS="debug ccache coverage-gcc"
+docker build \
+    --tag ${IMAGE_NAME} \
+    --build-arg FROM_IMAGE \
+    --build-arg FAIL_ON_BUILD_FAILURE \
+    --build-arg UNDERLAY_MIXINS \
+    --build-arg OVERLAY_MIXINS \
+    --file ./Dockerfile ../../.

.dockerhub/devel/Dockerfile

@@ -0,0 +1 @@
+../../Dockerfile

.dockerhub/devel/hooks/build

@@ -0,0 +1,10 @@
+#!/bin/bash
+set -ex
+
+ROS_DISTRO=${SOURCE_BRANCH%"-devel"}
+FROM_IMAGE=ros:${ROS_DISTRO}
+docker build \
+    --tag ${IMAGE_NAME} \
+    --build-arg FROM_IMAGE \
+    --build-arg FAIL_ON_BUILD_FAILURE="" \
+    --file ./Dockerfile ../../.

.dockerhub/release/Dockerfile

@@ -0,0 +1 @@
+../../Dockerfile

.dockerhub/release/dummy.Dockerfile

@@ -0,0 +1,12 @@
+# This is a dummy Dockerfile for repository links on Docker Hub.
+# Build rules on Docker Hub can trigger whenever the base image updates.
+# Base images are specified in the FROM: directive in the tracked Dockerfile.
+# However, build args are used by the build hooks to adjust the base image
+# so a single Dockerfile can be reused for multiple CI jobs, reducing maintenance.
+# To re-enable repository linking when using build args in the FROM: directive,
+# this dummy Dockerfile explicitly conveys the base image/repo to link against
+# while build rules that target this still use the same hook in this directory.
+# Note: This only works for non-official images.
+
+FROM osrf/ros2:nightly-rmw-nonfree
+RUN echo "This is a dummy Dockerfile."

.dockerhub/release/hooks/build

@@ -0,0 +1,14 @@
+#!/bin/bash
+set -ex
+
+FROM_IMAGE=osrf/ros2:nightly-rmw-nonfree
+FAIL_ON_BUILD_FAILURE=""
+UNDERLAY_MIXINS="release ccache"
+OVERLAY_MIXINS="release ccache"
+docker build \
+    --tag ${IMAGE_NAME} \
+    --build-arg FROM_IMAGE \
+    --build-arg FAIL_ON_BUILD_FAILURE \
+    --build-arg UNDERLAY_MIXINS \
+    --build-arg OVERLAY_MIXINS \
+    --file ./Dockerfile ../../.

.dockerignore

@@ -0,0 +1,9 @@
+################################################################################
+# Repo
+
+.circleci/*
+.git/*
+.dockerignore
+.gitignore
+**Dockerfile
+codecov.yml

Dockerfile

@@ -1,23 +1,38 @@
-# This dockerfile expects proxies to be set via --build-arg if needed
-# It also expects to be contained in the /navigation2 root folder for file copy
+# This dockerfile can be configured via --build-arg
+# Build context must be the /navigation2 root folder for COPY.
 # Example build command:
-# export CMAKE_BUILD_TYPE=Debug
-# docker build -t nav2:latest --build-arg CMAKE_BUILD_TYPE ./
-FROM osrf/ros2:nightly
-
-# copy ros package repo
-ENV NAV2_WS /opt/nav2_ws
-RUN mkdir -p $NAV2_WS/src
-WORKDIR $NAV2_WS/src
-COPY ./ navigation2/
-
-# clone dependency package repos
-ENV ROS_WS /opt/ros_ws
-RUN mkdir -p $ROS_WS/src
-WORKDIR $ROS_WS
-RUN vcs import src < $NAV2_WS/src/navigation2/tools/ros2_dependencies.repos
-
-# install dependency package dependencies
+# export UNDERLAY_MIXINS="debug ccache"
+# export OVERLAY_MIXINS="debug ccache coverage"
+# docker build -t nav2:latest \
+#   --build-arg UNDERLAY_MIXINS \
+#   --build-arg OVERLAY_MIXINS ./
+ARG FROM_IMAGE=osrf/ros2:nightly
+FROM $FROM_IMAGE
+
+# install CI dependencies	
+RUN apt-get update && \
+    apt-get install -q -y \	
+      ccache \
+      lcov \
+      python3-colcon-mixin \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup colcon mixin / meta
+RUN colcon mixin add upstream \
+      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add upstream \
+      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+
+# clone underlay source
+ENV UNDERLAY_WS /opt/underlay_ws
+RUN mkdir -p $UNDERLAY_WS/src
+WORKDIR $UNDERLAY_WS
+COPY ./tools/ros2_dependencies.repos ./
+RUN vcs import src < ros2_dependencies.repos
+
+# install underlay dependencies
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     apt-get update && \
     rosdep install -q -y \
@@ -26,37 +41,49 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
-# build dependency package source
-ARG CMAKE_BUILD_TYPE=Release
-
+# build underlay source
+ARG UNDERLAY_MIXINS="release ccache"
+ARG FAIL_ON_BUILD_FAILURE=True
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     colcon build \
       --symlink-install \
-      --cmake-args \
-        -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE
+      --mixin \
+        $UNDERLAY_MIXINS \
+    || touch build_failed && \
+    if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
+      exit 1; \
+    fi
+
+# copy overlay source
+ENV OVERLAY_WS /opt/overlay_ws
+RUN mkdir -p $OVERLAY_WS/src
+WORKDIR $OVERLAY_WS
+COPY ./ src/navigation2/
 
-# install navigation2 package dependencies
-WORKDIR $NAV2_WS
-RUN . $ROS_WS/install/setup.sh && \
+# install overlay dependencies
+RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && \
     rosdep install -q -y \
       --from-paths \
-        $ROS_WS/src \
+        $UNDERLAY_WS/src \
         src \
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
-# build navigation2 package source
-RUN rm $NAV2_WS/src/navigation2/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 navigation2 workspace from entrypoint
+# build overlay source
+ARG OVERLAY_MIXINS="release ccache"
+RUN rm $OVERLAY_WS/src/navigation2/nav2_system_tests/COLCON_IGNORE
+RUN . $UNDERLAY_WS/install/setup.sh && \
+    colcon build \
+      --symlink-install \
+      --mixin \
+        $OVERLAY_MIXINS \
+    || touch build_failed && \
+    if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
+      exit 1; \
+    fi
+
+# source overlay from entrypoint
 RUN sed --in-place \
-      's|^source .*|source "$NAV2_WS/install/setup.bash"|' \
+      's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
       /ros_entrypoint.sh

tools/code_coverage_report.bash

@@ -15,7 +15,7 @@ set -e
 LCOVDIR=lcov
 PWD=`pwd`
 
-COVERAGE_REPORT=genhtml
+COVERAGE_REPORT_VIEW="genhtml"
 
 for opt in "$@" ; do
   case "$opt" in
@@ -24,30 +24,62 @@ for opt in "$@" ; do
       exit 0
       ;;
     codecovio)
-      COVERAGE_REPORT=codecovio
+      COVERAGE_REPORT_VIEW=codecovio
+      ;;
+    genhtml)
+      COVERAGE_REPORT_VIEW=genhtml
+      ;;
+    ci)
+      COVERAGE_REPORT_VIEW=ci
       ;;
   esac
 done
 
+set -o xtrace
 mkdir -p $LCOVDIR
 
-# Generate initial zero-coverage data. This adds files that were otherwise not run to the report
-lcov -c  --initial --rc lcov_branch_coverage=1 --directory build --output-file ${LCOVDIR}/initialcoverage.info
+# Generate initial zero-coverage data.
+# This adds files that were otherwise not run to the report
+lcov --capture --initial \
+  --directory build \
+  --output-file ${LCOVDIR}/initial_coverage.info \
+  --rc lcov_branch_coverage=1
 
 # Capture executed code data.
-lcov -c --rc lcov_branch_coverage=1 --directory build --output-file ${LCOVDIR}/testcoverage.info
+lcov --capture \
+  --directory build \
+  --output-file ${LCOVDIR}/test_coverage.info \
+  --rc lcov_branch_coverage=1
 
-# Combine the initial zero-coverage report with the executed lines report
-lcov -a ${LCOVDIR}/initialcoverage.info -a ${LCOVDIR}/testcoverage.info --rc lcov_branch_coverage=1 --o ${LCOVDIR}/fullcoverage.info
+# Combine the initial zero-coverage report with the executed lines report.
+lcov \
+  --add-tracefile ${LCOVDIR}/initial_coverage.info \
+  --add-tracefile ${LCOVDIR}/test_coverage.info \
+  --output-file ${LCOVDIR}/full_coverage.info \
+  --rc lcov_branch_coverage=1
 
-# Only include files that are within this workspace (eg filter out stdio.h etc)
-lcov -e ${LCOVDIR}/fullcoverage.info "${PWD}/*" --rc lcov_branch_coverage=1 --output-file ${LCOVDIR}/workspacecoverage.info
+# Only include files that are within this workspace.
+# (eg filter out stdio.h etc)
+lcov \
+  --extract ${LCOVDIR}/full_coverage.info \
+    "${PWD}/*" \
+  --output-file ${LCOVDIR}/workspace_coverage.info \
+  --rc lcov_branch_coverage=1
 
-# Remove files in the build subdirectory because they are generated files (like messages, services, etc)
-lcov -r ${LCOVDIR}/workspacecoverage.info "${PWD}/build/*" --rc lcov_branch_coverage=1 --output-file ${LCOVDIR}/projectcoverage.info
+# Remove files in the build subdirectory.
+# Those are generated files (like messages, services, etc)
+lcov \
+  --remove ${LCOVDIR}/workspace_coverage.info \
+    "${PWD}/build/*" \
+  --output-file ${LCOVDIR}/project_coverage.info \
+  --rc lcov_branch_coverage=1
 
-if [ $COVERAGE_REPORT = codecovio ]; then
-  bash <(curl -s https://codecov.io/bash) -f ${LCOVDIR}/projectcoverage.info
-else
-  genhtml ${LCOVDIR}/projectcoverage.info --output-directory ${LCOVDIR}/html --branch-coverage -p ${PWD}
-fi
+if [ $COVERAGE_REPORT_VIEW = codecovio ]; then
+  bash <(curl -s https://codecov.io/bash) \
+    -f ${LCOVDIR}/project_coverage.info \
+    -R src/navigation2
+elif [ $COVERAGE_REPORT_VIEW = genhtml ]; then
+  genhtml ${LCOVDIR}/project_coverage.info \
+    --output-directory ${LCOVDIR}/html \
+    --branch-coverage -p ${PWD}
+fi