Build and import properly #2404
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| name: Continuous Integration (SDK) | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| logLevel: | |
| description: 'Log level' | |
| required: true | |
| default: 'warning' | |
| type: choice | |
| options: | |
| - info | |
| - warning | |
| - debug | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| - 'develop' | |
| - 'main' | |
| tags: | |
| - '\d+.\d.+\d+*' | |
| concurrency: | |
| group: ${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| ba_linux: | |
| name: "General Software Linux" | |
| runs-on: ubuntu-latest | |
| # if: false # disable this job | |
| defaults: | |
| run: | |
| working-directory: scripts | |
| steps: | |
| - name: Git checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| # token: ${{ secrets.ALL_REPO_PAT }} | |
| submodules: recursive | |
| fetch-depth: 0 # Fetches full commit history, needed for repo info steps in build | |
| - name: Install dependencies | |
| run: | | |
| ./install_sdk_dependencies.sh | |
| ./install_gtest.sh | |
| - name: Clean All | |
| run: ./clean_all.sh | |
| - name: Build SDK | |
| run: ./build_is_sdk.sh | |
| - name: Build Unit Tests | |
| run: ./build_unit_tests.sh | |
| - name: Run Unit Tests | |
| run: ./build_unit_tests.sh --nobuild --test | |
| - name: Build cltool | |
| run: ./build_cltool.sh | |
| - name: Build LogInspector | |
| run: | | |
| ./install_log_inspector_dependencies.sh | |
| ./build_log_inspector.sh | |
| - name: Build SDK Examples | |
| run: python3 build_manager.py SDK_Examples ../ExampleProjects | |
| ba_windows: | |
| name: "General Software Windows" | |
| runs-on: [self-hosted, windows, x64] | |
| # if: false # disable this job | |
| # if: (github.ref == 'refs/heads/main') || (github.ref == 'refs/heads/develop') # Only run job on these branches | |
| defaults: | |
| run: | |
| working-directory: scripts/windows | |
| steps: | |
| - name: Git checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| # token: ${{ secrets.ALL_REPO_PAT }} | |
| submodules: recursive | |
| fetch-depth: 0 # Fetches full commit history, needed for repo info steps in build | |
| - name: Clean all | |
| run: ./clean_all.bat | |
| - name: Build IS SDK library | |
| run: ./build_is_sdk.bat | |
| - name: Build Unit Tests | |
| run: ./build_unit_tests.bat | |
| - name: Build CLTool | |
| run: ./build_cltool.bat | |
| - name: Build LogInspector | |
| run: ./build_log_inspector.bat | |
| - name: Build SDK Examples | |
| run: ./build_sdk_examples.bat | |
| ros1-bridge-tests: | |
| name: "ROS1 Bridge Tests" | |
| runs-on: [self-hosted, Linux, X64, docker, focal] | |
| # if: false # disable this job | |
| env: | |
| ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...] | |
| ROS_DISTRO: noetic | |
| container: | |
| image: ros:noetic | |
| #options: --privileged -v /dev:/dev | |
| options: --device-cgroup-rule="c 166:* rmw" | |
| volumes: | |
| - "/dev:/dev" | |
| defaults: | |
| run: | |
| working-directory: ../ROS/catkin_ws | |
| shell: bash | |
| steps: | |
| - name: Update Git & CMake versions | |
| working-directory: . | |
| run: | | |
| echo "::group::Install software-properties-common and dependencies." | |
| apt-get update && apt -y install software-properties-common dirmngr apt-transport-https lsb-release ca-certificates libyaml-cpp-dev gpg wget curl | |
| echo "::endgroup::" | |
| echo "::group::Configure git-core PPA and install latest." | |
| add-apt-repository ppa:git-core/ppa -y && apt -y install git | |
| echo "::endgroup::" | |
| git --version | |
| echo "::group::Configure Kitware CMake PPA and install latest." | |
| wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null | |
| echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ `lsb_release -sc` main" | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null | |
| apt-get update | |
| test -f /usr/share/doc/kitware-archive-keyring/copyright || | |
| rm /usr/share/keyrings/kitware-archive-keyring.gpg | |
| apt-get -y install kitware-archive-keyring cmake | |
| echo "::endgroup::" | |
| cmake --version | |
| - name: Checkout source and submodules | |
| uses: actions/checkout@v4 | |
| with: | |
| # token: ${{ secrets.ALL_REPO_PAT }} | |
| fetch-depth: 0 # Fetches full commit history, needed for repo info steps in build | |
| submodules: recursive | |
| - name: Install dependencies | |
| working-directory: scripts | |
| run: | | |
| apt-get update && apt-get -y install python3-pip python3-venv python3-git python3-semver | |
| ./install_sdk_dependencies.sh | |
| ./install_python_dependencies.sh | |
| ./install_gtest.sh | |
| - name: Setup ROS environment | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| echo "::group::Install ROS packages." | |
| apt -y install ros-${ROS_DISTRO}-tf libusb-1.0-0-dev | |
| echo "::endgroup::" | |
| git config --global --add safe.directory /__w/inertial-sense-sdk/inertial-sense-sdk | |
| - name: Setup Catkin Workspace and Build | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| catkin_make -DCATKIN_BLACKLIST_PACKAGES="inertial_sense_ros2" | |
| catkin_make test_unit_tests | |
| catkin_make test_ros_bridge | |
| - name: Run Unit Tests | |
| run: | | |
| source devel/setup.bash | |
| rm -rf build/test_results | |
| roscore & | |
| catkin_make run_tests_inertial_sense_ros_gtest_test_unit_tests | |
| catkin_test_results | |
| pkill roscore | |
| - name: Run Functional/Integration Tests (via hardware) | |
| run: | | |
| source devel/setup.bash | |
| roscore & | |
| catkin_make run_tests_inertial_sense_ros_gtest_test_ros_bridge | |
| catkin_test_results | |
| ros2-bridge-tests: | |
| name: "ROS2 Bridge Tests" | |
| runs-on: [self-hosted, Linux, X64, docker, focal] | |
| # if: false # disable this job | |
| container: | |
| image: osrf/ros:jazzy-desktop | |
| options: --device-cgroup-rule="c 166:* rmw" | |
| volumes: | |
| - "/dev:/dev" | |
| defaults: | |
| run: | |
| working-directory: ../ROS/ros2_ws # This is outside the scope of git | |
| shell: bash | |
| steps: | |
| - name: Update Git & CMake versions | |
| working-directory: . | |
| run: | | |
| echo "::group::Install software-properties-common and dependencies." | |
| apt-get update && apt -y install software-properties-common dirmngr apt-transport-https lsb-release ca-certificates libyaml-cpp-dev gpg wget curl | |
| echo "::endgroup::" | |
| echo "::group::Configure git-core PPA and install latest." | |
| add-apt-repository ppa:git-core/ppa -y && apt -y install git | |
| echo "::endgroup::" | |
| git --version | |
| echo "::group::Configure Kitware CMake PPA and install latest." | |
| wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null | |
| echo "deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ `lsb_release -sc` main" | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null | |
| apt-get update | |
| test -f /usr/share/doc/kitware-archive-keyring/copyright || | |
| rm /usr/share/keyrings/kitware-archive-keyring.gpg | |
| apt-get -y install kitware-archive-keyring cmake | |
| echo "::endgroup::" | |
| cmake --version | |
| - name: Install libboost and other pre-checkout dependencies | |
| run: | | |
| /ros_entrypoint.sh /bin/bash -e -c " | |
| mkdir -p .cache/pip | |
| apt-get update && apt-get -y install libboost-all-dev python3-pip python3-venv python3-git python3-semver | |
| rm -rf ../../inertial-sense-sdk/* log/ build/ install/ &>/dev/null || true | |
| " | |
| - name: Checkout source and submodules | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| fetch-depth: 0 # Fetches full commit history, needed for repo info steps in build | |
| - name: Install dependencies | |
| working-directory: scripts | |
| run: | | |
| /ros_entrypoint.sh /bin/bash -e -c " | |
| cd ../../inertial-sense-sdk/scripts | |
| ./install_sdk_dependencies.sh | |
| ./install_python_dependencies.sh | |
| ./install_gtest.sh | |
| chown -R 1003:1003 ../../ | |
| " | |
| # - name: Install dependencies | |
| # run: | | |
| # /ros_entrypoint.sh /bin/bash -e -c " | |
| # ../../inertial-sense-sdk/scripts/install_python_dependencies.sh | |
| # " | |
| - name: Build IS SDK library | |
| run: | | |
| /ros_entrypoint.sh /bin/bash -e -c " | |
| git config --global --add safe.directory /__w/inertial-sense-sdk/inertial-sense-sdk | |
| ../../inertial-sense-sdk/scripts/build_is_sdk.sh | |
| " | |
| - name: Build ROS2 bridge | |
| run: | | |
| /ros_entrypoint.sh /bin/bash -e -c " | |
| git config --global --add safe.directory /__w/inertial-sense-sdk/inertial-sense-sdk | |
| colcon build | |
| " | |
| - name: Run Functional/Integration Tests (via hardware) | |
| run: | | |
| /ros_entrypoint.sh /bin/bash -e -c " | |
| source install/setup.bash | |
| ros2 run inertial_sense_ros2 test_inertial_sense_ros2 | |
| " |