Raise alarm if calib data can't be loaded on multi-group systems with TF enabled #214
Workflow file for this run
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| # SPDX-FileCopyrightText: 2023, Yaskawa America, Inc. | |
| # SPDX-FileCopyrightText: 2023, Delft University of Technology | |
| # | |
| # SPDX-License-Identifier: CC0-1.0 | |
| name: "CI: build VS proj" | |
| on: | |
| # MSBuild CI only runs for PRs originating from this repository (due to | |
| # access to secrets). Enable CI runs on pushes to the 'main' branch, to | |
| # make sure MSBuild CI also gets run for contributions from external | |
| # repositories (after the PR has been merged, but it might still catch | |
| # problems that slipped past reviewers) | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| workflow_dispatch: | |
| jobs: | |
| msbuild_filter: | |
| runs-on: ubuntu-latest | |
| outputs: | |
| needs_msbuild: ${{ steps.paths_filter.outputs.vsproj }} | |
| steps: | |
| - name: Checkout MotoROS2 | |
| uses: actions/checkout@v4 | |
| - name: Check VS proj has changed | |
| id: paths_filter | |
| uses: dorny/paths-filter@v3 | |
| with: | |
| filters: | | |
| vsproj: | |
| - 'src/**' | |
| - 'MotoROS2.sln' | |
| msbuild: | |
| runs-on: windows-2022 | |
| needs: msbuild_filter | |
| # only run this job if: | |
| # - this is a manually triggered build, or | |
| # - it's a PR and: | |
| # - source files were changed, | |
| # - AND the PR came from a feature branch on the main repository | |
| if: | | |
| github.event_name == 'workflow_dispatch' || | |
| ( | |
| needs.msbuild_filter.outputs.needs_msbuild == 'true' && | |
| github.event.pull_request.head.repo.full_name == github.repository | |
| ) | |
| strategy: | |
| # keep jobs running even if one fails (we want to know on which | |
| # controllers and for which ROS 2 versions builds fail / succeed) | |
| fail-fast: false | |
| matrix: | |
| controller: [dx200, yrc1000, yrc1000u] | |
| ros2_codename: [humble, galactic, foxy] | |
| steps: | |
| - name: Uppercase controller identifier | |
| id: uppercaser | |
| shell: bash | |
| env: | |
| TEMP_VAR: "${{ matrix.controller }}" | |
| run: | | |
| echo "ctrlr=${TEMP_VAR^^}" >> $GITHUB_OUTPUT | |
| - name: Checkout MotoROS2 | |
| uses: actions/checkout@v4 | |
| with: | |
| path: 'motoros2' | |
| - name: Find MSBuild and add to PATH | |
| uses: microsoft/[email protected] | |
| - name: "Download M+ libmicroros (${{ matrix.ros2_codename }} on ${{ steps.uppercaser.outputs.ctrlr }})" | |
| id: download_libmicroros | |
| uses: dsaltares/[email protected] | |
| with: | |
| repo: 'yaskawa-global/motoros2' | |
| version: 'latest' | |
| regex: true | |
| # download the M+ libmicroros distribution for the latest release of | |
| # MotoROS2 corresponding to the controller this workflow is run for | |
| file: ".*_libmicroros_${{ matrix.ros2_codename }}-.*_${{ matrix.controller }}\\.zip" | |
| # work-around for https://github.com/dsaltares/fetch-gh-release-asset/issues/48 | |
| target: "./" | |
| - name: Setup MotoROS2 build dir | |
| shell: bash | |
| run: | | |
| mkdir -p /c/build | |
| rm -rf /c/build/* | |
| # we do this to shorten the path. Windows/M+ SDK sometimes does | |
| cp -r "${{ github.workspace }}"/* /c/build/ | |
| ls -al /c/build | |
| - name: "Find downloaded M+ libmicroros (${{ matrix.ros2_codename }} on ${{ steps.uppercaser.outputs.ctrlr }})" | |
| id: find_libmicroros | |
| shell: bash | |
| # bit of a kludge, but works for now. | |
| # we need to do this as 'fetch-gh-release-asset' will try to rename downloaded | |
| # files if we use a regex to match 'unknown' files instead of hard-coding | |
| # everything. | |
| run: | | |
| LIBM_ZIP=$(find /c/build -type f -regextype posix-extended -regex ".*[[:digit:]]+_libmicroros_${{ matrix.ros2_codename }}.*${{ matrix.controller}}\.zip") | |
| echo "libmicroros_zip=${LIBM_ZIP}" >> $GITHUB_OUTPUT | |
| echo "libmicroros_zip_win=$(cygpath -w ${LIBM_ZIP})" >> $GITHUB_OUTPUT | |
| echo "Found libmicroros zip: '${LIBM_ZIP}'" | |
| - name: Extract M+ libmicroros distribution | |
| shell: bash | |
| run: | | |
| unzip -q "${{ steps.find_libmicroros.outputs.libmicroros_zip }}" \ | |
| -d /c/build/motoros2/libmicroros_${{ matrix.controller }}_${{ matrix.ros2_codename }} | |
| - name: Download and setup M+ SDK (mpBuilder) | |
| shell: cmd | |
| run: | | |
| C:\msys64\usr\bin\wget.exe -q -O C:/build/mpsdk_ci.7z "${{ secrets.MPSDK_DOWNLOAD_URL }}" | |
| "C:\Program Files\7-Zip\7z.exe" x C:/build/mpsdk_ci.7z -oC:/build/ | |
| del /q C:\build\mpsdk_ci.7z | |
| - name: Add M+ SDK to PATH | |
| shell: bash | |
| run: echo "C:/build/mpsdk" >> $GITHUB_PATH | |
| - name: Register mpBuilder problem matcher | |
| run: echo "::add-matcher::motoros2/.github/matchers/mpbuilder.json" | |
| - name: "Build MotoROS2 (config: ${{ steps.uppercaser.outputs.ctrlr }}_${{ matrix.ros2_codename }})" | |
| shell: cmd | |
| env: | |
| MP_VS_Install: "C:/build/mpsdk/" | |
| WIND_BASE: "C:/" | |
| WIND_HOST_TYPE: "x86-win32" | |
| WIND_USR: "C:/" | |
| run: | | |
| msbuild ^ | |
| C:\build\motoros2\MotoROS2.sln ^ | |
| -t:Build ^ | |
| -nologo ^ | |
| -v:minimal ^ | |
| -p:Configuration=${{ steps.uppercaser.outputs.ctrlr }}_${{ matrix.ros2_codename }} |