Uses ros-action-ci in build.yaml workflow. (#67)

* Uses ros-action-ci in build.yaml workflow. * Modifies tests to use compile definitions. Signed-off-by: Franco Cipollone <[email protected]>
maliput · Jun 16, 2022 · 1645672 · 1645672
1 parent 9667048
commit 1645672
Show file tree

Hide file tree

Showing 6 changed files with 38 additions and 121 deletions.
diff --git a/.github/dependencies.repos b/.github/dependencies.repos
@@ -3,6 +3,14 @@ repositories:
     type: git
     url: https://github.com/ToyotaResearchInstitute/ament_cmake_doxygen
     version: main
+  maliput:
+    type: git
+    url: https://github.com/maliput/maliput
+    version: main
+  maliput_py:
+    type: git
+    url: https://github.com/maliput/maliput_py
+    version: main
   pybind11:
     type: git
     url: https://github.com/RobotLocomotion/pybind11.git

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -1,6 +1,7 @@
 name: gcc
 
 on:
+  push:
   pull_request:
     branches:
       - main
@@ -9,7 +10,6 @@ on:
 env:
   PACKAGE_NAME: maliput_dragway
   ROS_DISTRO: foxy
-  ROS_WS: maliput_ws
 
 jobs:
   compile_and_test:
@@ -18,86 +18,12 @@ jobs:
     container:
       image: ubuntu:20.04
     steps:
-    # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
-    - uses: ros-tooling/[email protected]
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      id: action_ros_ci_step
       with:
-        path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
-    # clone private dependencies
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_py
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_py
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - name: check if dependencies have a matching branch
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src
-      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
-    # clone public dependencies
-    - name: vcs import
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
-    - run: colcon graph
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-    - name: rosdep install
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        rosdep update --include-eol-distros;
-        rosdep install  -i -y --rosdistro ${ROS_DISTRO} --skip-keys "pybind11" --from-paths src
-    # Build libraries.
-    - name: colcon build libraries
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        colcon build --packages-up-to ${PACKAGE_NAME} \
-          --event-handlers=console_direct+ \
-          --cmake-args -DBUILD_TESTING=OFF -DBUILD_DOCS=OFF;
-    # Build tests for current package.
-    - name: colcon build tests
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        colcon build --packages-select ${PACKAGE_NAME} \
-          --event-handlers=console_direct+ \
-          --cmake-args -DBUILD_TESTING=ON -DBUILD_DOCS=OFF;
-    # Test package.
-    - name: colcon test
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        . install/setup.bash;
-        colcon test --packages-select ${PACKAGE_NAME} --event-handlers=console_direct+;
-        colcon test-result --verbose;
-    # Build documentation.
-    - name: colcon build doxygen documentation
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        colcon build --packages-up-to ${PACKAGE_NAME} \
-            --event-handlers=console_direct+ \
-            --cmake-args -DBUILD_TESTING=OFF -DBUILD_DOCS=ON;
-    # Test doxygen documentation.
-    - name: colcon test doxygen documentation
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        . install/setup.bash;
-        colcon test --packages-select ${PACKAGE_NAME} \
-            --ctest-args ' -R' ' maliput_dragway_doxygen_warnings' \
-            --event-handlers=console_direct+;
-        colcon test-result --verbose;
+        package-name: ${{ env.PACKAGE_NAME }}
+        target-ros2-distro: ${{ env.ROS_DISTRO }}
+        vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/dependencies.repos
+        rosdep-skip-keys: pybind11
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
@@ -34,27 +34,10 @@ jobs:
       LDFLAGS: -fuse-ld=lld-8
     steps:
     # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
-    - uses: ros-tooling/setup-ros@0.2.1
-    - uses: actions/checkout@v2
+    - uses: ros-tooling/setup-ros@v0.3
+    - uses: actions/checkout@v3
       with:
         path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
-    # clone private dependencies
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_py
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_py
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - name: check if dependencies have a matching branch
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src
-      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
     - name: clang 8 install
       shell: bash
       run: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}/.github/clang_suite_installation.sh
@@ -63,6 +46,10 @@ jobs:
       shell: bash
       working-directory: ${{ env.ROS_WS }}
       run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
+    - name: check if dependencies have a matching branch
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
     - run: colcon graph
       shell: bash
       working-directory: ${{ env.ROS_WS }}

diff --git a/.github/workflows/scan_build.yml b/.github/workflows/scan_build.yml
@@ -23,27 +23,10 @@ jobs:
       LDFLAGS: -fuse-ld=lld-8
     steps:
     # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
-    - uses: ros-tooling/setup-ros@0.2.1
-    - uses: actions/checkout@v2
+    - uses: ros-tooling/setup-ros@v0.3
+    - uses: actions/checkout@v3
       with:
         path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
-    # clone private dependencies
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_py
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_py
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - name: check if dependencies have a matching branch
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src
-      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
     - name: clang 8 install
       shell: bash
       run: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}/.github/clang_suite_installation.sh
@@ -52,6 +35,10 @@ jobs:
       shell: bash
       working-directory: ${{ env.ROS_WS }}
       run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
+    - name: check if dependencies have a matching branch
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
     - run: colcon graph
       shell: bash
       working-directory: ${{ env.ROS_WS }}

diff --git a/test/plugin/CMakeLists.txt b/test/plugin/CMakeLists.txt
@@ -17,6 +17,12 @@ macro(add_dependencies_to_test target)
           ENABLE_EXPORTS ON
       )
 
+      set(ROAD_NETWORK_PLUGIN ${CMAKE_INSTALL_PREFIX}/lib/plugins/)
+      target_compile_definitions(${target}
+        PRIVATE
+          DEF_ROAD_NETWORK_PLUGIN="${ROAD_NETWORK_PLUGIN}"
+      )
+
       target_link_libraries(${target}
           maliput_dragway::maliput_dragway
           maliput::plugin

diff --git a/test/plugin/road_network_plugin_test.cc b/test/plugin/road_network_plugin_test.cc
@@ -27,6 +27,8 @@
 // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 // OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#include <stdlib.h>
+
 #include <map>
 #include <memory>
 #include <string>
@@ -50,6 +52,7 @@ namespace dragway {
 namespace {
 
 GTEST_TEST(RoadNetworkLoader, VerifyRoadNetworkPlugin) {
+  setenv("MALIPUT_PLUGIN_PATH", DEF_ROAD_NETWORK_PLUGIN, 1);
   const plugin::MaliputPlugin::Id kDragwayPluginId{"maliput_dragway"};
   static constexpr double kTolerance{1e-15};
   const std::map<std::string, std::string> rg_dragway_properties{