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gha: adds ROS 2 specific actions for docker and ci
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Lines changed: 297 additions & 6 deletions

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.docker/Dockerfile renamed to .docker/Dockerfile.ros1

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@@ -27,7 +27,7 @@ RUN apt-get -q update && \
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RUN src/mujoco_ros_pkgs/.docker/mujoco_installer.sh
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# Download upstream repo dependencies
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RUN vcs import --shallow --input src/mujoco_ros_pkgs/.github/workflows/upstream.rosinstall src
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RUN vcs import --shallow --input src/mujoco_ros_pkgs/.github/workflows/upstream.ros1.rosinstall src
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# Create list of ros dependencies
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RUN rosdep update $(test "${ROS_DISTRO}" = "noetic" && echo --rosdistro ${ROS_DISTRO})

‎.docker/Dockerfile.ros2‎

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ARG IMAGE_PREFIX=""
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ARG ROS_DISTRO=noetic
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ARG BASE_DOCKER_NAME=${ROS_DISTRO}
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FROM ${IMAGE_PREFIX}ros:${BASE_DOCKER_NAME}-ros-base AS base
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ENV TERM=xterm
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ENV IN_DOCKER=1
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###################################################################################
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FROM base AS prepare
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# TODO: ROS 2 version for now is pinned at 3.2.0!
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ARG MUJOCO_VERSIONS=3.2.0 # ARG must be declared in stage were it is used!
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# Setup temporary ROS workspace
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WORKDIR /root/ws_mujoco
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# Copy MuJoCo ROS sources from docker context
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COPY . src/mujoco_ros_pkgs
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# Install packages required for prepare stage
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RUN apt-get -q update && \
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apt-get -q -y dist-upgrade && \
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DEBIAN_FRONTEND=noninteractive apt-get -q install --no-install-recommends -y curl git && \
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rm -rf /var/lib/apt/lists/*
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# Install MuJoCo versions
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RUN src/mujoco_ros_pkgs/.docker/mujoco_installer.sh
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## Previously needed for timing issues with time resets. TODO: check if something similar is necessary in ROS 2
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# Download upstream repo dependencies
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# RUN vcs import --shallow --input src/mujoco_ros_pkgs/.github/workflows/upstream.ros2.rosinstall src
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# Create list of ros dependencies
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RUN rosdep update --rosdistro ${ROS_DISTRO}
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RUN rosdep install -y --from-paths src --ignore-src --simulate > /tmp/deps.sh --rosdistro ${ROS_DISTRO}
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RUN chmod 755 /tmp/deps.sh
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###################################################################################
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FROM base AS final
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COPY --from=prepare /root/mujoco /root/mujoco
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COPY --from=prepare /tmp/deps.sh /tmp/deps.sh
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RUN apt-get -q update && \
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apt-get -q -y dist-upgrade && \
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# Install common dependencies
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DEBIAN_FRONTEND=noninteractive apt-get -q install --no-install-recommends -y \
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libgles2-mesa-dev libosmesa6-dev libglfw3-dev \
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curl git sudo python3-vcstool \
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python3-colcon-common-extensions \
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clang clang-format clang-tidy clang-tools \
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ccache && \
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# Install rosdep dependencies
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DEBIAN_FRONTEND=noninteractive /tmp/deps.sh && \
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# Cleanup apt cache
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rm -rf /var/lib/apt/lists/* && \
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# Globally disable git security
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git config --global --add safe.directory "*"

‎.dockerignore‎

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@@ -1,7 +1,8 @@
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*
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!.docker/mujoco_installer.sh
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!.github/workflows/upstream.rosinstall
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!.github/workflows/upstream.ros1.rosinstall
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!.github/workflows/upstream.ros2.rosinstall
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!.github/workflows/downstream.rosinstall
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!**/package.xml
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!**/CATKIN_IGNORE

.github/workflows/ci.yaml renamed to .github/workflows/ci.ros1.yaml

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@@ -45,7 +45,7 @@ jobs:
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# CXXFLAGS: -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
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CXXFLAGS: -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
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CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
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UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
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UPSTREAM_WORKSPACE: .github/workflows/upstream.ros1.rosinstall
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# Install and start xvfb for GLFW
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AFTER_INIT: ${{ matrix.render_backend == 'GLFW' && 'apt-get install -qy xvfb; Xvfb :99 &' || '' }}
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# Pull any updates to the upstream workspace
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restore-keys: ${{ env.CACHE_PREFIX }}
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env:
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GHA_CACHE_SAVE: always
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CACHE_PREFIX: upstream_ws-${{ matrix.distro }}-${{ hashFiles('.github/workflows/upstream.rosinstall', '.github/workflows/ci.yaml') }}
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CACHE_PREFIX: upstream_ws-${{ matrix.distro }}-${{ hashFiles('.github/workflows/upstream.ros1.rosinstall', '.github/workflows/ci.ros1.yaml') }}
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: Cache target workspace
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restore-keys: ${{ env.CACHE_PREFIX }}
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env:
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GHA_CACHE_SAVE: always
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CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.distro }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
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CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.distro }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.ros1.yaml') }}
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- name: Cache ccache
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uses: rhaschke/cache@main
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with:

‎.github/workflows/ci.ros2.yaml‎

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name: CI
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on:
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workflow_dispatch:
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pull_request:
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push:
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branches:
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- wip-ros-humble
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- fix-pr-history
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permissions:
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contents: read
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: true
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jobs:
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default:
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strategy:
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fail-fast: false
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matrix:
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distro: [humble, jazzy]
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render_backend: [GLFW, OSMESA, DISABLE] # EGL currently removed due to issues with the local CI runners
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mujoco: [3.2.0]
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include:
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- distro: humble
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mujoco: 3.2.0
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env:
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CCOV: true
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- distro: humble
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mujoco: 3.2.0
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env:
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CLANG_TIDY: pedantic
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env:
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BUILDER: colcon
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MUJOCO_DIR: /vol/mujoco/mujoco-${{ matrix.mujoco }} # for self-hosted runners
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DOCKER_RUN_OPTS: -e MUJOCO_DIR=/root/mujoco/${{ matrix.mujoco }} -e DISPLAY=:99.0
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DOCKER_IMAGE: ubiagni/mujoco_ros:${{ matrix.distro }}-ci
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# For now we have flags defined in the CMakeLists, using all flags makes the build break
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# I'll fix this once I find some time to do it
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# CXXFLAGS: -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
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CXXFLAGS: -Wwrite-strings -Wunreachable-code -Wpointer-arith # rosidl triggers this in non-user code, so let's leave it out for now -Wredundant-decls
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CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
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# UPSTREAM_WORKSPACE: .github/workflows/upstream.ros2.rosinstall
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# Install and start xvfb for GLFW
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AFTER_INIT: ${{ matrix.render_backend == 'GLFW' && 'apt-get install -qy xvfb; Xvfb :99 &' || '' }}
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# Pull any updates to the upstream workspace
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# AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
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AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
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# Clear ccache stats before and log the stats after the build
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AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
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AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats
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AFTER_BUILD_DOWNSTREAM_WORKSPACE: ccache --show-stats
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# Compile CCOV with Debug. Enable -Werror.
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TARGET_CMAKE_ARGS: >
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-DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
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-DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
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-DRENDER_BACKEND=${{ matrix.render_backend }}
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# UPSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS= -DCMAKE_CXX_STANDARD=17
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
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BEFORE_CLANG_TIDY_CHECKS: |
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# Show list of applied checks
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(cd $TARGET_REPO_PATH; clang-tidy --list-checks)
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CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
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CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
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CLANG_TIDY: ${{ matrix.env.CLANG_TIDY || 'false' }}
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CATKIN_LINT: ${{ matrix.env.CATKIN_LINT || 'false' }}
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CCOV: ${{ matrix.env.CCOV || 'false' }}
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name: "${{ matrix.distro }} mj-${{ matrix.mujoco }} ${{ matrix.render_backend }} ${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}"
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runs-on: ${{ matrix.render_backend == 'EGL' && matrix.distro || 'ubuntu-latest' }}
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steps:
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- uses: actions/checkout@v4
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# - name: Cache upstream workspace
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# uses: rhaschke/cache@main
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# with:
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# path: ${{ env.BASEDIR }}/upstream_ws
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# key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
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# restore-keys: ${{ env.CACHE_PREFIX }}
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# env:
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# GHA_CACHE_SAVE: always
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# CACHE_PREFIX: upstream_ws-${{ matrix.distro }}-${{ hashFiles('.github/workflows/upstream.rosinstall', '.github/workflows/ci.ros2.yaml') }}
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: Cache target workspace
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if: matrix.env.CCOV != true
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uses: rhaschke/cache@main
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with:
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path: ${{ env.BASEDIR }}/target_ws
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key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
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restore-keys: ${{ env.CACHE_PREFIX }}
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env:
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GHA_CACHE_SAVE: always
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CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.distro }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.ros2.yaml') }}
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- name: Cache ccache
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uses: rhaschke/cache@main
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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${{ env.CACHE_PREFIX }}-${{ github.sha }}
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${{ env.CACHE_PREFIX }}
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env:
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GHA_CACHE_SAVE: always
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CACHE_PREFIX: ccache-${{ matrix.distro }}${{ matrix.env.CCOV && '-ccov' || '' }}
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- id: ici
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name: Run industrial_ci
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uses: ros-industrial/industrial_ci@master
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- name: Upload test artifacts (on failure)
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uses: actions/upload-artifact@v4
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if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
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with:
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name: test-results-${{ matrix.distro }}-${{ matrix.render_backend }}
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path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
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- name: Generate codecov report
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uses: rhaschke/lcov-action@main
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if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
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with:
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docker: ${{ matrix.render_backend != 'EGL' && '$DOCKER_IMAGE' || '' }}
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workdir: ${{ env.BASEDIR }}/target_ws
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ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
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output: ${{ env.BASEDIR }}/target_ws/coverage-${{ matrix.distro }}-${{ matrix.render_backend }}.info
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- name: Upload codecov report
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uses: codecov/codecov-action@v5
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if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
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with:
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files: ${{ env.BASEDIR }}/target_ws/coverage-${{ matrix.distro }}-${{ matrix.render_backend }}.info
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- name: Upload clang-tidy changes
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uses: rhaschke/upload-git-patch-action@main
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if: always() && matrix.env.CLANG_TIDY
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with:
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name: clang-tidy
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path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd))
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- name: Prepare target_ws for cache
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if: always() && !matrix.env.CCOV
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run: |
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du -sh ${{ env.BASEDIR }}/target_ws
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sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
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sudo rm -rf ${{ env.BASEDIR }}/target_ws/src ${{ env.BASEDIR }}/target_ws/logs
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du -sh ${{ env.BASEDIR }}/target_ws

.github/workflows/docker.yaml renamed to .github/workflows/docker.ros1.yaml

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uses: docker/build-push-action@v5
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if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
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with:
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file: .docker/Dockerfile
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file: .docker/Dockerfile.ros1
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build-args: |
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ROS_DISTRO=${{ matrix.ROS_DISTRO }}
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BASE_DOCKER_NAME=${{ matrix.ROS_DISTRO == 'one' && 'jammy' || matrix.ROS_DISTRO }}

‎.github/workflows/docker.ros2.yaml‎

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name: Docker
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on:
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schedule:
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# 6 AM UTC every Sunday
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- cron: "0 6 * * 6"
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workflow_dispatch:
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push:
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branches:
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- wip-ros-humble
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- fix-pr-history
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paths:
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- '**/package.xml'
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- .docker
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- .dockignore
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- .github/workflows/docker.yml
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- .github/workflows/*.rosinstall
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pull_request:
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branches:
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- wip-ros-humble
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- fix-pr-history
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paths:
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- '**/package.xml'
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- .docker
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- .dockignore
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- .github/workflows/docker.yml
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- .github/workflows/*.rosinstall
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concurrency: # cancel any previous workflow(s) from the same PR or branch/tag
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: true
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jobs:
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ci:
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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [humble, jazzy]
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runs-on: ubuntu-latest
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permissions:
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packages: write
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contents: read
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env:
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IMAGE: ubiagni/mujoco_ros:${{ matrix.ROS_DISTRO }}-${{ github.job }}
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MUJOCO_VERSIONS: 3.2.0 # TODO: ROS 2 pinned to 3.2.0 for now (until stable)
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steps:
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- name: Check for apt updates
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uses: rhaschke/docker-run-action@main
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continue-on-error: true
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id: apt
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with:
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image: ${{ env.IMAGE }}
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shell: bash
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run: |
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apt-get update
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have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
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echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
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- name: Login to Container Registry
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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- name: Build and push
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uses: docker/build-push-action@v5
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if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
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with:
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file: .docker/Dockerfile.ros2
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build-args: |
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ROS_DISTRO=${{ matrix.ROS_DISTRO }}
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BASE_DOCKER_NAME=${{ matrix.ROS_DISTRO }}
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MUJOCO_VERSIONS=${{ env.MUJOCO_VERSIONS }}
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IMAGE_PREFIX=${{ '' }}
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push: true
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no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
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cache-from: type=registry,ref=${{ env.IMAGE }}
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cache-to: type=inline
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tags: ${{ env.IMAGE }}

.github/workflows/upstream.rosinstall renamed to .github/workflows/upstream.ros1.rosinstall

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