Allow RobotState::setFromIK to work with subframes (backport #3077) #7813
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | |
| # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | |
| name: CI | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| branches: | |
| - humble | |
| jobs: | |
| default: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - IMAGE: humble-ci | |
| CCOV: true | |
| ROS_DISTRO: humble | |
| - IMAGE: humble-ci | |
| ROS_DISTRO: humble | |
| IKFAST_TEST: true | |
| CLANG_TIDY: pedantic | |
| # Silent gmock/gtest warnings by picking more recent googletest version | |
| AFTER_BUILD_UPSTREAM_WORKSPACE: | | |
| git clone --depth 1 --quiet --branch 1.11.9000 https://github.com/ament/googletest "${BASEDIR}/upstream_ws/src/googletest" | |
| builder_run_build "/opt/ros/${ROS_DISTRO}" "${BASEDIR}/upstream_ws" --packages-select gtest_vendor gmock_vendor | |
| env: | |
| CXXFLAGS: >- | |
| -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls | |
| CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file | |
| DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }} | |
| UPSTREAM_WORKSPACE: > | |
| moveit2.repos | |
| $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f) | |
| # Pull any updates to the upstream workspace (after restoring it from cache) | |
| AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src | |
| # Uninstall binaries that are duplicated in the .repos file | |
| # TODO(andyz): remove this once a sync containing 35b93c8 happens | |
| AFTER_SETUP_UPSTREAM_WORKSPACE_EMBED: sudo apt remove ros-${{ matrix.env.ROS_DISTRO }}-moveit-msgs -y | |
| AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src | |
| # Clear the ccache stats before and log the stats after the build | |
| AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G | |
| BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z | |
| AFTER_BUILD_TARGET_WORKSPACE: ccache -s | |
| # Changing linker to lld as ld has a behavior where it takes a long time to finish | |
| # Compile CCOV with Debug. Enable -Werror. | |
| TARGET_CMAKE_ARGS: > | |
| -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld | |
| -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld | |
| -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld | |
| -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}} | |
| -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}" | |
| UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''" | |
| DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra" | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| BASEDIR: ${{ github.workspace }}/.work | |
| CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }} | |
| BEFORE_CLANG_TIDY_CHECKS: | | |
| # Show list of applied checks | |
| (cd $TARGET_REPO_PATH; clang-tidy --list-checks) | |
| # Disable clang-tidy for ikfast plugins as we cannot fix the generated code | |
| find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \; | |
| CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} | |
| CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} | |
| ADDITIONAL_DEBS: lld | |
| name: ${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }} | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: "Free up disk space" | |
| if: matrix.env.CCOV | |
| run: | | |
| sudo apt-get -qq purge build-essential "ghc*" | |
| sudo apt-get clean | |
| # cleanup docker images not used by us | |
| docker system prune -af | |
| # shift ccache folder to /mnt on a separate disk | |
| sudo mkdir /mnt/ccache | |
| mkdir ${{ env.CCACHE_DIR }} | |
| sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache | |
| # free up a lot of stuff from /usr/local | |
| sudo rm -rf /usr/local | |
| df -h | |
| - uses: actions/checkout@v4 | |
| - uses: testspace-com/setup-testspace@v1 | |
| if: github.repository == 'ros-planning/moveit2' | |
| with: | |
| domain: ros-planning | |
| - name: Get latest release date for rosdistro | |
| id: rosdistro_release_date | |
| uses: JafarAbdi/latest-rosdistro-release-date-action@main | |
| with: | |
| rosdistro: ${{ matrix.env.ROS_DISTRO }} | |
| - name: Get latest timestamp repos file has been edited | |
| id: repos_edit_timestamp | |
| uses: vatanaksoytezer/latest-file-edit-timestamp-action@main | |
| with: | |
| file: moveit2.repos | |
| - name: Cache upstream workspace | |
| uses: pat-s/always-upload-cache@v3.0.11 | |
| with: | |
| path: ${{ env.BASEDIR }}/upstream_ws | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
| restore-keys: ${{ env.CACHE_PREFIX }} | |
| env: | |
| CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }} | |
| # The target directory cache doesn't include the source directory because | |
| # that comes from the checkout. See "prepare target_ws for cache" task below | |
| - name: Cache target workspace | |
| if: "!matrix.env.CCOV" | |
| uses: pat-s/always-upload-cache@v3.0.11 | |
| with: | |
| path: ${{ env.BASEDIR }}/target_ws | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
| restore-keys: ${{ env.CACHE_PREFIX }} | |
| env: | |
| CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }} | |
| - name: Cache ccache | |
| uses: pat-s/always-upload-cache@v3.0.11 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} | |
| restore-keys: | | |
| ${{ env.CACHE_PREFIX }}-${{ github.sha }} | |
| ${{ env.CACHE_PREFIX }} | |
| env: | |
| CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }} | |
| - name: Configure ccache | |
| run: | | |
| mkdir -p ${{ env.CCACHE_DIR }} | |
| cp .github/ccache.conf ${{ env.CCACHE_DIR }}/ccache.conf | |
| - name: Generate ikfast packages | |
| if: matrix.env.IKFAST_TEST | |
| run: moveit_kinematics/test/test_ikfast_plugins.sh | |
| - id: ici | |
| name: Run industrial_ci | |
| uses: ros-industrial/industrial_ci@master | |
| env: ${{ matrix.env }} | |
| - name: Push result to Testspace | |
| if: always() && (github.repository == 'ros-planning/moveit2') | |
| run: | | |
| testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml" | |
| - name: Upload test artifacts (on failure) | |
| uses: actions/upload-artifact@v3 | |
| if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | |
| with: | |
| name: test-results-${{ matrix.env.IMAGE }} | |
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | |
| - name: Generate codecov report | |
| uses: rhaschke/lcov-action@main | |
| if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| docker: $DOCKER_IMAGE | |
| workdir: ${{ env.BASEDIR }}/target_ws | |
| ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"' | |
| - name: Upload codecov report | |
| uses: codecov/codecov-action@v3 | |
| if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| files: ${{ env.BASEDIR }}/target_ws/coverage.info | |
| - name: Upload clang-tidy changes | |
| uses: rhaschke/upload-git-patch-action@main | |
| if: always() && matrix.env.CLANG_TIDY | |
| with: | |
| name: clang-tidy | |
| path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd)) | |
| - name: Prepare target_ws for cache | |
| if: always() && !matrix.env.CCOV | |
| run: | | |
| du -sh ${{ env.BASEDIR }}/target_ws | |
| sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete | |
| sudo rm -rf ${{ env.BASEDIR }}/target_ws/src | |
| du -sh ${{ env.BASEDIR }}/target_ws |