Clean up NDT implementation and examples #1880
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| name: CI pipeline | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} | |
| cancel-in-progress: true | |
| jobs: | |
| lint: | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v3 | |
| - name: Setup python | |
| uses: actions/setup-python@v4 | |
| with: | |
| cache: pip | |
| - name: Install python packages | |
| run: pip install pre-commit==2.20.0 | |
| - name: Lint | |
| run: pre-commit run --all-files --verbose --show-diff-on-failure | |
| build-test: | |
| runs-on: ubuntu-22.04 | |
| needs: lint | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distro: | |
| - noetic | |
| - humble | |
| - iron | |
| - jazzy | |
| include: | |
| - ros_distro: humble | |
| upload_artifacts: true | |
| container: | |
| image: ros:${{ matrix.ros_distro }}-ros-base | |
| steps: | |
| - name: Install debian packages | |
| run: >- | |
| sudo apt-get update && sudo apt-get install -y \ | |
| gcovr \ | |
| git \ | |
| lcov \ | |
| python3-colcon-common-extensions \ | |
| python3-colcon-coveragepy-result \ | |
| python3-colcon-lcov-result \ | |
| python3-colcon-mixin \ | |
| python3-pip \ | |
| python3-vcstool | |
| - name: Install python packages | |
| run: | | |
| export PIP_BREAK_SYSTEM_PACKAGES=1 | |
| pip install pre-commit==2.20.0 \ | |
| h5py==3.11.0 | |
| - name: Checkout repository | |
| uses: actions/checkout@v3 | |
| with: | |
| path: ${{ github.workspace }}/src/beluga | |
| - name: Import external repositories | |
| working-directory: ${{ github.workspace }}/src | |
| run: | | |
| vcs import < ./beluga/docker/files/${{ matrix.ros_distro }}.repos | |
| rm -rf ./flatland | |
| - name: Install dependencies | |
| run: | | |
| . /opt/ros/${{ matrix.ros_distro }}/setup.sh | |
| export PIP_BREAK_SYSTEM_PACKAGES=1 | |
| rosdep update | |
| sudo -E rosdep install -r --from-paths src -y -i -t exec -t build -t doc -t test | |
| colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/c75e4b34a3959524564afb584e2aa33c7eec323c/index.yaml | |
| colcon mixin update default | |
| - name: Setup compiler cache | |
| uses: Chocobo1/setup-ccache-action@v1 | |
| with: | |
| api_token: ${{ secrets.GITHUB_TOKEN }} | |
| update_packager_index: false | |
| override_cache_key: ccache-${{ matrix.ros_distro }}-${{ github.head_ref || github.ref_name }} | |
| override_cache_key_fallback: | | |
| ccache-${{ matrix.ros_distro }}-${{ github.base_ref || github.ref_name }} | |
| ccache-${{ matrix.ros_distro }}- | |
| - name: Build and test | |
| working-directory: ${{ github.workspace }} | |
| run: ./src/beluga/tools/build-and-test.sh | |
| - name: Perform static analysis | |
| working-directory: ${{ github.workspace }} | |
| run: ./src/beluga/tools/run-clang-tidy.sh | |
| - name: Enforce code coverage | |
| working-directory: ${{ github.workspace }} | |
| run: ./src/beluga/tools/check-code-coverage.sh | |
| - name: Upload code coverage report | |
| uses: codecov/codecov-action@v3 | |
| with: | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| files: ./lcov/total_coverage.info,./coveragepy/.coverage | |
| name: codecov-umbrella | |
| fail_ci_if_error: true | |
| verbose: true | |
| if: ${{ matrix.upload_artifacts && !github.event.pull_request.head.repo.fork }} | |
| build-docs: | |
| needs: build-test | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v3 | |
| - name: Setup python | |
| uses: actions/setup-python@v4 | |
| with: | |
| cache: pip | |
| - name: Install tooling dependencies | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| doxygen \ | |
| git \ | |
| graphviz \ | |
| make \ | |
| texlive-latex-base | |
| pip install -r docs/requirements.txt | |
| - name: Build documentation | |
| run: make -C docs html | |
| - name: Upload documentation artifacts | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: docs | |
| path: ./docs/_build/html/ | |
| include-hidden-files: true | |
| retention-days: 7 | |
| deploy-docs: | |
| needs: build-docs | |
| runs-on: ubuntu-22.04 | |
| if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }} | |
| steps: | |
| - name: Checkout documentation branch | |
| uses: actions/checkout@v3 | |
| with: | |
| ref: gh-pages | |
| - name: Configure username | |
| run: | | |
| git config --local user.name "github-actions[bot]" | |
| git config --local user.email "41898282+github-actions[bot]@users.noreply.github.com" | |
| - name: Remove current documentation | |
| run: | | |
| git rm -rf . | |
| - name: Download documentation artifacts | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: docs | |
| - name: Deploy documentation | |
| env: | |
| COMMIT_MESSAGE: "Triggered by commit ${{ github.sha }}." | |
| COMMIT_CO_AUTHOR: "Co-authored-by: ${{ github.actor }} <${{ github.actor }}@users.noreply.github.com>" | |
| run: | | |
| git add --all | |
| git commit -m "Update documentation" -m "${{ env.COMMIT_MESSAGE }}" -m "${{ env.COMMIT_CO_AUTHOR }}" || true | |
| git push |