Docker release #346
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| name: Docker release | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| build-docker: | |
| runs-on: ubuntu-20.04 | |
| env: | |
| IMAGE_NAME: ghcr.io/${{ github.repository_owner }}/baseline_walking_controller | |
| steps: | |
| - name: Checkout repository code | |
| uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| path: BaselineWalkingController | |
| - name: Docker version | |
| run: docker version | |
| - name: Build docker image | |
| run: | | |
| cd ${GITHUB_WORKSPACE}/BaselineWalkingController/.github/workflows/ | |
| docker build -t ${IMAGE_NAME}_ci:${{ github.sha }} --build-arg REPOSITORY=${{ github.repository_owner }} --build-arg COMMIT_SHA=${{ github.sha }} . | |
| - name: Docker images | |
| run: docker images | |
| - name: Login to registries | |
| run: | | |
| echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin | |
| - name: Push image for CI | |
| run: | | |
| docker push ${IMAGE_NAME}_ci:${{ github.sha }} | |
| - name: Push image for release | |
| if: github.repository_owner == 'isri-aist' && github.ref == 'refs/heads/master' | |
| run: | | |
| docker tag ${IMAGE_NAME}_ci:${{ github.sha }} ${IMAGE_NAME}:latest | |
| docker push ${IMAGE_NAME}:latest | |
| test-docker: | |
| needs: build-docker | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| mpc-method: [PreviewControlZmp] | |
| mpc-framework: [OpenLoopMpc] | |
| motion-type: [WalkingOnPlane, WalkingOnStairs, WalkingOnPlaneVel, WalkingWithFootstepPlanner] | |
| runs-on: ubuntu-20.04 | |
| container: | |
| image: ghcr.io/${{ github.repository_owner }}/baseline_walking_controller_ci:${{ github.sha }} | |
| env: | |
| HOME: /root | |
| RESULTS_POSTFIX: ${{ matrix.mpc-method }}-${{ matrix.mpc-framework }}-${{ matrix.motion-type }}-docker | |
| steps: | |
| - name: Check repository | |
| shell: bash | |
| run: | | |
| set -e | |
| . ${HOME}/catkin_ws/devel/setup.bash | |
| roscd baseline_walking_controller | |
| set -x | |
| git remote get-url origin | |
| git log HEAD^..HEAD | |
| - name: Run simulation | |
| shell: bash | |
| run: | | |
| set -e | |
| . ${HOME}/catkin_ws/devel/setup.bash | |
| set -x | |
| export DISPLAY=":1" | |
| Xvfb ${DISPLAY} -screen 0 1920x1080x24 & | |
| sleep 10s | |
| fluxbox 2> /dev/null & | |
| mkdir -p ${HOME}/.config/mc_rtc/controllers | |
| cp ${HOME}/catkin_ws/src/isri-aist/BaselineWalkingController/etc/mc_rtc.yaml ${HOME}/.config/mc_rtc | |
| CI_DIR=${HOME}/catkin_ws/src/isri-aist/BaselineWalkingController/.github/workflows | |
| python3 ${CI_DIR}/scripts/mergeConfigs.py ${CI_DIR}/config/${{ matrix.mpc-method }}.yaml ${CI_DIR}/config/${{ matrix.mpc-framework }}.yaml ${CI_DIR}/config/${{ matrix.motion-type }}.yaml > ${HOME}/.config/mc_rtc/controllers/BaselineWalkingController.yaml | |
| ffmpeg -y -f x11grab -s 1920x1080 -r 30 -i ${DISPLAY} -qscale 0 -vcodec huffyuv /tmp/video.avi > /dev/null 2>&1 < /dev/null & | |
| FFMPEG_PID=$! | |
| cd /usr/share/hrpsys/samples/JVRC1 | |
| ./clear-omninames.sh | |
| if [ "${{ matrix.motion-type }}" == "WalkingOnPlane" -o "${{ matrix.motion-type }}" == "WalkingOnPlaneVel" ]; then | |
| CNOID_FILE=sim_mc.cnoid | |
| else | |
| CNOID_FILE=sim_mc_comanoid_staircase.cnoid | |
| fi | |
| choreonoid ${CNOID_FILE} --test-mode --start-simulation & | |
| CNOID_PID=$! | |
| if [ "${{ matrix.motion-type }}" == "WalkingWithFootstepPlanner" ]; then | |
| SLEEP_DURATION="70s" | |
| else | |
| SLEEP_DURATION="50s" | |
| fi | |
| sleep ${SLEEP_DURATION} | |
| kill -2 ${CNOID_PID} | |
| kill -2 ${FFMPEG_PID} | |
| sleep 1s | |
| kill -9 ${CNOID_PID} || true | |
| sleep 10s | |
| mkdir -p /tmp/results | |
| ffmpeg -nostats -i /tmp/video.avi /tmp/results/BWC-video-${RESULTS_POSTFIX}.mp4 | |
| LOG_FILENAME=BWC-log-${RESULTS_POSTFIX} | |
| mv `readlink -f /tmp/mc-control-BaselineWalkingController-latest.bin` /tmp/${LOG_FILENAME}.bin | |
| tar czf /tmp/results/${LOG_FILENAME}.tar.gz -C /tmp ${LOG_FILENAME}.bin | |
| - name: Upload simulation data | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: BWC-docker-results | |
| path: /tmp/results | |
| - name: Check simulation results | |
| shell: bash | |
| run: | | |
| set -e | |
| set -x | |
| if [ "${{ matrix.motion-type }}" == "WalkingOnPlane" ]; then | |
| EXPECTED_BASE_POS="1.34 -0.41 0.8" | |
| elif [ "${{ matrix.motion-type }}" == "WalkingOnStairs" ]; then | |
| EXPECTED_BASE_POS="1.75 0.0 1.68" | |
| elif [ "${{ matrix.motion-type }}" == "WalkingOnPlaneVel" ]; then | |
| EXPECTED_BASE_POS="0.74 -0.53 0.8" | |
| else # if [ "${{ matrix.motion-type }}" == "WalkingWithFootstepPlanner" ]; then | |
| EXPECTED_BASE_POS="2.5 -0.25 0.8" | |
| fi | |
| LOG_FILENAME=BWC-log-${RESULTS_POSTFIX} | |
| CI_DIR=${HOME}/catkin_ws/src/isri-aist/BaselineWalkingController/.github/workflows | |
| python3 ${CI_DIR}/scripts/checkSimulationResults.py /tmp/${LOG_FILENAME}.bin --expected-base-pos ${EXPECTED_BASE_POS} |