drake-ros/.github/workflows/main.yml at 1c8257a968e5a26c7e5884ed3e2b2bcecf996318 · RobotLocomotion/drake-ros · GitHub

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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')"