perf(probabilistic_occupancy_grid_map): performance tuning for pointcloud based occupancy grid map #33704
Workflow file for this run
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| name: build-and-test-differential | |
| on: | |
| pull_request: | |
| types: | |
| - opened | |
| - synchronize | |
| - reopened | |
| - labeled | |
| env: | |
| CC: /usr/lib/ccache/gcc | |
| CXX: /usr/lib/ccache/g++ | |
| jobs: | |
| make-sure-label-is-present: | |
| uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 | |
| with: | |
| label: tag:run-build-and-test-differential | |
| build-and-test-differential: | |
| needs: make-sure-label-is-present | |
| if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} | |
| runs-on: ubuntu-latest | |
| container: ${{ matrix.container }}${{ matrix.container-suffix }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| rosdistro: | |
| - humble | |
| container-suffix: | |
| - "" | |
| - -cuda | |
| include: | |
| - rosdistro: humble | |
| container: ghcr.io/autowarefoundation/autoware:latest-prebuilt | |
| build-depends-repos: build_depends.repos | |
| steps: | |
| - name: Set PR fetch depth | |
| run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" | |
| - name: Checkout PR branch and all PR commits | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| fetch-depth: ${{ env.PR_FETCH_DEPTH }} | |
| - name: Show disk space before the tasks | |
| run: df -h | |
| - name: Remove exec_depend | |
| uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 | |
| - name: Get modified packages | |
| id: get-modified-packages | |
| uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 | |
| - name: Create ccache directory | |
| run: | | |
| mkdir -p ${CCACHE_DIR} | |
| du -sh ${CCACHE_DIR} && ccache -s | |
| shell: bash | |
| - name: Attempt to restore ccache | |
| uses: actions/cache/restore@v4 | |
| with: | |
| path: | | |
| /root/.ccache | |
| key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.event.pull_request.base.sha }} | |
| restore-keys: | | |
| ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}- | |
| - name: Show ccache stats before build | |
| run: du -sh ${CCACHE_DIR} && ccache -s | |
| shell: bash | |
| - name: Export CUDA state as a variable for adding to cache key | |
| run: | | |
| build_type_cuda_state=nocuda | |
| if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then | |
| build_type_cuda_state=cuda | |
| fi | |
| echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}" | |
| echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" | |
| shell: bash | |
| - name: Build | |
| if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} | |
| uses: autowarefoundation/autoware-github-actions/colcon-build@v1 | |
| with: | |
| rosdistro: ${{ matrix.rosdistro }} | |
| target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} | |
| build-depends-repos: ${{ matrix.build-depends-repos }} | |
| cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} | |
| - name: Show ccache stats after build | |
| run: du -sh ${CCACHE_DIR} && ccache -s | |
| shell: bash | |
| - name: Test | |
| id: test | |
| if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} | |
| uses: autowarefoundation/autoware-github-actions/colcon-test@v1 | |
| with: | |
| rosdistro: ${{ matrix.rosdistro }} | |
| target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} | |
| build-depends-repos: ${{ matrix.build-depends-repos }} | |
| - name: Upload coverage to CodeCov | |
| if: ${{ steps.test.outputs.coverage-report-files != '' }} | |
| uses: codecov/codecov-action@v4 | |
| with: | |
| files: ${{ steps.test.outputs.coverage-report-files }} | |
| fail_ci_if_error: false | |
| verbose: true | |
| flags: differential | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| - name: Show disk space after the tasks | |
| run: df -h | |
| clang-tidy-differential: | |
| needs: build-and-test-differential | |
| runs-on: ubuntu-latest | |
| container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda | |
| steps: | |
| - name: Set PR fetch depth | |
| run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" | |
| - name: Checkout PR branch and all PR commits | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| fetch-depth: ${{ env.PR_FETCH_DEPTH }} | |
| - name: Show disk space before the tasks | |
| run: df -h | |
| - name: Remove exec_depend | |
| uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 | |
| - name: Get modified packages | |
| id: get-modified-packages | |
| uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 | |
| - name: Get changed files (existing files only) | |
| id: get-changed-files | |
| run: | | |
| echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT | |
| shell: bash | |
| - name: Run clang-tidy | |
| if: ${{ steps.get-changed-files.outputs.changed-files != '' }} | |
| uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 | |
| with: | |
| rosdistro: humble | |
| target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} | |
| target-files: ${{ steps.get-changed-files.outputs.changed-files }} | |
| clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci | |
| build-depends-repos: build_depends.repos | |
| cache-key-element: cuda | |
| - name: Show disk space after the tasks | |
| run: df -h |