Improve ros_launch support for launch files #1464
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| name: drake-ros continuous integration | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| concurrency: | |
| group: ${{ github.repository }}-${{ github.workflow }}-${{ github.ref }}-${{ github.ref == 'refs/heads/main' && github.sha || ''}} | |
| cancel-in-progress: true | |
| jobs: | |
| pre_commit: | |
| name: Run linters and formatters | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v5 | |
| - name: Install pre-commit | |
| run: pip install pre-commit | |
| - name: Run pre-commit hooks | |
| run: pre-commit run --all-files --show-diff-on-failure | |
| if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')" | |
| build_container: | |
| name: Build drake-ros container image | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v5 | |
| - name: Free up runner space | |
| uses: ./.github/actions/free-disk-space | |
| - name: Build container image | |
| run: | | |
| docker build -t drake-ros:ci-${{ github.sha }} -f .devcontainer/Dockerfile . | |
| - name: Save container image | |
| run: | | |
| docker save drake-ros:ci-${{ github.sha }} | gzip > /tmp/drake-ros-image.tar.gz | |
| - name: Upload container image artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: drake-ros-image | |
| path: /tmp/drake-ros-image.tar.gz | |
| retention-days: 1 | |
| if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')" | |
| bazel_ros2_rules_test: | |
| name: Build and test bazel_ros2_rules modules with bazel | |
| runs-on: ubuntu-24.04 | |
| needs: build_container | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v5 | |
| - name: Free up runner space | |
| uses: ./.github/actions/free-disk-space | |
| - name: Download container image artifact | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: drake-ros-image | |
| path: /tmp | |
| - name: Load container image | |
| run: | | |
| docker load < /tmp/drake-ros-image.tar.gz | |
| - name: Configure AppArmor for ROS network isolation | |
| uses: ./.github/actions/configure-apparmor | |
| - name: Run bazel_ros2_rules tests | |
| run: | | |
| docker run --rm --privileged \ | |
| -v ${{ github.workspace }}:/drake-ros \ | |
| -u $(id -u):$(id -g) \ | |
| drake-ros:ci-${{ github.sha }} \ | |
| /drake-ros/.github/scripts/run_bazel_ros2_tests.sh | |
| if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')" | |
| bazel_drake_ros_test: | |
| name: Build and test drake_ros modules with bazel | |
| runs-on: ubuntu-24.04 | |
| needs: build_container | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v5 | |
| - name: Free up runner space | |
| uses: ./.github/actions/free-disk-space | |
| - name: Download container image artifact | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: drake-ros-image | |
| path: /tmp | |
| - name: Load container image | |
| run: | | |
| docker load < /tmp/drake-ros-image.tar.gz | |
| - name: Configure AppArmor for ROS network isolation | |
| uses: ./.github/actions/configure-apparmor | |
| - name: Run drake_ros bazel tests | |
| run: | | |
| docker run --rm --privileged \ | |
| -v ${{ github.workspace }}:/drake-ros \ | |
| -u $(id -u):$(id -g) \ | |
| drake-ros:ci-${{ github.sha }} \ | |
| /drake-ros/.github/scripts/run_bazel_drake_tests.sh | |
| if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')" | |
| colcon_drake_ros_test: | |
| name: Build and test drake_ros packages with colcon | |
| runs-on: ubuntu-24.04 | |
| needs: build_container | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v5 | |
| - name: Free up runner space | |
| uses: ./.github/actions/free-disk-space | |
| - name: Download container image artifact | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: drake-ros-image | |
| path: /tmp | |
| - name: Load container image | |
| run: | | |
| docker load < /tmp/drake-ros-image.tar.gz | |
| - name: Configure AppArmor for ROS network isolation | |
| uses: ./.github/actions/configure-apparmor | |
| - name: Run colcon tests | |
| run: | | |
| docker run --rm \ | |
| -v ${{ github.workspace }}:/drake-ros \ | |
| -u $(id -u):$(id -g) \ | |
| drake-ros:ci-${{ github.sha }} \ | |
| /drake-ros/.github/scripts/run_colcon_tests.sh | |
| if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')" |