planner_3d: add an option to trigger planning by costmap updates #530
Workflow file for this run
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| # This file is automatically deployed from https://github.com/at-wat/.rospkg-assets. | |
| # Please don't directly edit; update at-wat/.rospkg-assets instead. | |
| name: build | |
| on: | |
| pull_request: | |
| branches: | |
| - master | |
| push: | |
| branches: | |
| - master | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - ROS_DISTRO=noetic | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Cache test data | |
| uses: actions/cache@v3 | |
| with: | |
| path: .cached-dataset | |
| key: dataset-${{ hashFiles('test/CMakeLists.txt') }} | |
| restore-keys: dataset- | |
| - name: Cache docker layers | |
| uses: actions/cache@v3 | |
| with: | |
| path: /home/runner/layers.tar | |
| key: docker-layers-${{ matrix.env }}-${{ github.sha }} | |
| restore-keys: docker-layers-${{ matrix.env }}- | |
| - name: Set env | |
| run: echo "${{ matrix.env }}" | tee ${GITHUB_ENV} | |
| - name: Get dataset | |
| run: if [ -x .github/get_dataset.sh ]; then .github/get_dataset.sh; fi | |
| - name: Load docker layer cache | |
| run: if [ -f /home/runner/layers.tar ]; then docker load -i /home/runner/layers.tar; fi | |
| - name: Install gh-pr-comment | |
| uses: at-wat/setup-gh-pr-comment@v0 | |
| - name: Copy gh-pr-comment for container | |
| run: cp $(which gh-pr-comment) .github/ | |
| - name: Test | |
| run: | | |
| eval export $(cat .github/test.conf) | |
| echo "ROS_DISTRO=${ROS_DISTRO}" >> ${GITHUB_ENV} | |
| BUILD_LINK="[${GITHUB_RUN_NUMBER}]" | |
| touch .rosinstall .rosinstall-isolated | |
| echo '::group::docker build' | |
| docker build \ | |
| -t tester \ | |
| -f .github/Dockerfile \ | |
| --build-arg ROS_DISTRO \ | |
| --pull=true . \ | |
| || (gh-pr-comment "${BUILD_LINK} FAILED on ${ROS_DISTRO}" "docker build failed"; false) | |
| echo '::endgroup::' | |
| mkdir -p /tmp/log | |
| docker run --rm \ | |
| -e BUILD_LINK=${BUILD_LINK} \ | |
| $(gh-pr-comment-env.sh) \ | |
| -e GITHUB_ACTIONS \ | |
| -e CATKIN_MAKE_OPTIONS \ | |
| -v ${GITHUB_WORKSPACE}:/orig-src \ | |
| -v /tmp/log:/root/.ros/log \ | |
| tester \ | |
| /catkin_ws/src/self/.github/test.sh | |
| - name: Compress logs | |
| if: always() | |
| run: cd /tmp; tar -cJf logs.tar.xz log | |
| - name: Upload ROS logs | |
| if: always() | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: logs-${{ env.ROS_DISTRO }}.tar.xz | |
| path: /tmp/logs.tar.xz | |
| retention-days: 1 | |
| - uses: codecov/codecov-action@v3 | |
| - name: Save layer cache | |
| run: | | |
| LAYERS=$(docker history -q tester | grep -v missing) | |
| echo "layers: $(echo ${LAYERS})" | |
| docker save -o /home/runner/layers.tar ${LAYERS} |