get mod packages in docker

Signed-off-by: M. Fatih Cırıt <[email protected]>

.github/actions/colcon-build-docker/README.md

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+# colcon-build
+
+This action runs `colcon build`.
+
+## Usage
+
+```yaml
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+```
+
+## Inputs
+
+| Name                | Required | Description                                         |
+| ------------------- | -------- | --------------------------------------------------- |
+| rosdistro           | true     | ROS distro.                                         |
+| target-packages     | true     | The target packages to build.                       |
+| build-depends-repos | false    | The `.repos` file that includes build dependencies. |
+| cmake-build-type    | false    | The value for `CMAKE_BUILD_TYPE`.                   |
+| token               | false    | The token for build dependencies.                   |
+
+## Outputs
+
+None.

.github/actions/colcon-build-docker/action.yaml

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+name: colcon-build-docker
+description: ""
+
+inputs:
+  rosdistro:
+    description: ""
+    required: true
+  target-packages:
+    description: ""
+    required: true
+  build-depends-repos:
+    description: ""
+    required: false
+  cmake-build-type:
+    description: ""
+    required: false
+    default: Release
+  token:
+    description: ""
+    required: false
+    default: ${{ github.token }}
+  include-eol-distros:
+    description: ""
+    required: false
+  cache-build-artifacts:
+    description: "Caches the build and install folders for clang-tidy to use"
+    required: false
+    default: "false"
+
+runs:
+  using: composite
+  steps:
+    - name: Show target packages
+      run: |
+        echo "target packages: ${{ inputs.target-packages }}"
+      shell: bash
+
+    - name: Install pip for rosdep
+      run: |
+        sudo apt-get -yqq update
+        sudo apt-get -yqq install python3-pip
+      shell: bash
+
+    - name: Set git config
+      if: ${{ inputs.build-depends-repos != '' }}
+      uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+      with:
+        token: ${{ inputs.token }}
+
+    - name: Clone dependency packages
+      if: ${{ inputs.build-depends-repos != '' }}
+      run: |
+        mkdir -p dependency_ws
+        vcs import dependency_ws < ${{ inputs.build-depends-repos }}
+      shell: bash
+
+    - name: Run rosdep install
+      run: |
+        package_paths=$(colcon list -p --packages-above-and-dependencies ${{ inputs.target-packages }} --base-paths . dependency_ws)
+        sudo apt-get -yqq update
+        if [ "${{ inputs.include-eol-distros }}" = "true" ]; then
+            rosdep update --include-eol-distros
+        else
+            rosdep update
+        fi
+        DEBIAN_FRONTEND=noninteractive rosdep install -yqq --from-paths ${package_paths} --ignore-src --rosdistro ${{ inputs.rosdistro }}
+      shell: bash
+
+    - name: Set up colcon-mixin
+      run: |
+        colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml || true
+        colcon mixin update default
+      shell: bash
+
+    - name: Build
+      run: |
+        . /opt/ros/${{ inputs.rosdistro }}/setup.sh
+        # Cannot use unshare inside a Docker container, so we just disable
+        # DNS lookups instead.
+        cat /etc/nsswitch.conf
+        sed -e 's#hosts:\(.*\)dns\(.*\)#hosts:\1\2#g' -i.bak /etc/nsswitch.conf
+        cat /etc/nsswitch.conf
+        colcon build --event-handlers console_cohesion+ \
+          --packages-above-and-dependencies ${{ inputs.target-packages }} \
+          --cmake-args -DCMAKE_BUILD_TYPE=${{ inputs.cmake-build-type }} \
+          --mixin coverage-gcc coverage-pytest compile-commands
+        mv /etc/nsswitch.conf.bak /etc/nsswitch.conf
+        cat /etc/nsswitch.conf
+      shell: bash
+
+    - name: Cache build artifacts
+      if: ${{ inputs.cache-build-artifacts == 'true' }}
+      uses: actions/cache@v4
+      with:
+        path: |
+          ./build
+          ./install
+        key: build-${{ inputs.rosdistro }}-${{ runner.os }}-${{ runner.arch }}-${{ inputs.cmake-build-type }}-${{ github.sha }}

.github/actions/colcon-test-docker/README.md

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+# colcon-test
+
+This action runs `colcon test` with labels specified in a regex format.
+Note that you need to build target packages before running this action.
+
+## Usage
+
+```yaml
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+  test:
+    needs: build
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    strategy:
+      matrix:
+        include:
+          - test-label: gtest
+            codecov-flags: gtest
+          - test-label: launch_test
+            codecov-flags: launch_test
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+          label-regex: ${{ matrix.test-label }}
+
+      - name: Upload coverage to Codecov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: ${{ matrix.codecov-flags }}
+```
+
+## Inputs
+
+| Name                | Required | Description                                         |
+| ------------------- | -------- | --------------------------------------------------- |
+| rosdistro           | true     | ROS distro.                                         |
+| target-packages     | true     | The target packages to test.                        |
+| build-depends-repos | false    | The `.repos` file that includes build dependencies. |
+| label-regex         | false    | The regex pattern of test labels to be run.         |
+| token               | false    | The token for build dependencies.                   |
+
+## Outputs
+
+| Name                  | Description                      |
+| --------------------- | -------------------------------- |
+| coverage-report-files | Generated coverage report files. |

.github/actions/colcon-test-docker/action.yaml

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+name: colcon-test
+description: ""
+
+inputs:
+  rosdistro:
+    description: ""
+    required: true
+  target-packages:
+    description: ""
+    required: true
+  build-depends-repos:
+    description: ""
+    required: false
+  label-regex:
+    description: ""
+    required: false
+    default: .* # Run all tests
+  token:
+    description: ""
+    required: false
+    default: ${{ github.token }}
+  include-eol-distros:
+    description: ""
+    required: false
+outputs:
+  coverage-report-files:
+    description: ""
+    value: ${{ steps.test.outputs.coverage-reports }}
+
+runs:
+  using: composite
+  steps:
+    - name: Show target packages
+      run: |
+        echo "target packages: ${{ inputs.target-packages }}"
+      shell: bash
+
+    - name: Set up colcon-mixin
+      run: |
+        colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml || true
+        colcon mixin update default
+      shell: bash
+
+    - name: Install packages for coverage commands
+      run: |
+        sudo apt-get -yqq update
+        sudo apt-get -yqq install \
+          lcov \
+          python3-pip \
+          python3-colcon-coveragepy-result \
+          python3-colcon-lcov-result \
+          python3-pytest-cov
+      shell: bash
+
+    - name: Set git config
+      if: ${{ inputs.build-depends-repos != '' }}
+      uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+      with:
+        token: ${{ inputs.token }}
+
+    - name: Clone dependency packages
+      if: ${{ inputs.build-depends-repos != '' }}
+      run: |
+        mkdir -p dependency_ws
+        vcs import dependency_ws < ${{ inputs.build-depends-repos }}
+      shell: bash
+
+    - name: Run rosdep install
+      run: |
+        package_paths=$(colcon list -p --packages-above-and-dependencies ${{ inputs.target-packages }} --base-paths . dependency_ws)
+        sudo apt-get -yqq update
+        if [ "${{ inputs.include-eol-distros }}" = "true" ]; then
+            rosdep update --include-eol-distros
+        else
+            rosdep update
+        fi
+        DEBIAN_FRONTEND=noninteractive rosdep install -yqq --from-paths ${package_paths} --ignore-src --rosdistro ${{ inputs.rosdistro }}
+      shell: bash
+
+    - name: Restore build files from cache
+      id: restore-build-files
+      uses: actions/cache@v4
+      with:
+        path: |
+          ./build
+          ./install
+        key: build-${{ inputs.rosdistro }}-${{ runner.os }}-${{ runner.arch }}-${{ inputs.cmake-build-type }}-${{ github.sha }}
+
+    - name: Test
+      run: |
+        set -e
+        . /opt/ros/${{ inputs.rosdistro }}/setup.sh
+
+        colcon lcov-result --zero-counters \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }}
+
+        colcon lcov-result --initial \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }}
+
+        colcon test --event-handlers console_cohesion+ \
+          --mixin coverage-pytest \
+          --packages-above ${{ inputs.target-packages }} \
+          --ctest-args -L "${{ inputs.label-regex }}" \
+          --executor sequential \
+          --return-code-on-test-failure
+
+        colcon lcov-result \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }} || true
+
+        colcon coveragepy-result \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }} || true
+      shell: bash
+
+    - name: Check if the lcov coverage file exists
+      id: lcov-coverage-file-existence
+      uses: autowarefoundation/autoware-github-actions/check-file-existence@v1
+      with:
+        files: lcov/total_coverage.info
+
+    - name: Check if the coveragepy coverage file exists
+      id: coveragepy-coverage-file-existence
+      uses: autowarefoundation/autoware-github-actions/check-file-existence@v1
+      with:
+        files: coveragepy/.coverage
+
+    - name: Generate output
+      id: test
+      run: |
+        coverage_files=()
+        if [[ "${{ steps.lcov-coverage-file-existence.outputs.exists }}" == "true" ]]; then
+          coverage_files+=("lcov/total_coverage.info")
+        fi
+
+        if [[ "${{ steps.coveragepy-coverage-file-existence.outputs.exists}}" == "true" ]]; then
+          coverage_files+=("coveragepy/.coverage")
+        fi
+
+        # Join coverage file names
+        coverage_files_str="$(IFS=,; echo "${coverage_files[*]}")"
+        echo "coverage-reports=$coverage_files_str" >> $GITHUB_OUTPUT
+      shell: bash