Migration to gazebo sim garden #917
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| name: CI/CD | |
| on: | |
| push: | |
| branches: ["**"] | |
| tags-ignore: ["**"] | |
| pull_request: | |
| workflow_dispatch: | |
| release: | |
| types: [published] | |
| jobs: | |
| # ============= | |
| build-colcon: | |
| # ============= | |
| name: 'colcon@${{ matrix.ignition }}' | |
| if: | | |
| (github.event_name == 'push' && github.ref != 'refs/heads/master') || | |
| (github.event_name == 'pull_request' && github.event.pull_request.base.ref != 'master') | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ignition: | |
| # - dome | |
| # - edifice | |
| - fortress | |
| env: | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| steps: | |
| - name: '🔍️ Inspect Environment' | |
| run: | | |
| env | grep ^GITHUB | |
| echo "" | |
| cat ${GITHUB_EVENT_PATH} | |
| echo "" | |
| env | |
| - name: '⬇️️ Install dependencies' | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y --no-install-recommends \ | |
| lz4 \ | |
| git \ | |
| wget \ | |
| gpg-agent \ | |
| ninja-build \ | |
| build-essential \ | |
| software-properties-common | |
| - name: '🐍 Initialize Python' | |
| uses: actions/setup-python@v2 | |
| with: | |
| python-version: 3.8 | |
| - name: '🚚 Compilation cache' | |
| uses: actions/cache@v2 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| # We include the commit sha in the cache key, as new cache entries are | |
| # only created if there is no existing entry for the key yet. | |
| key: ${{ runner.os }}-ccache-${{ matrix.ignition }}-${{ github.sha }} | |
| # Restore any ccache cache entry, if none for the key above exists | |
| restore-keys: ${{ runner.os }}-ccache-${{ matrix.ignition }} | |
| - name: '🚚 Enable ccache' | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y ccache | |
| echo "/usr/lib/ccache" >> $GITHUB_PATH | |
| ccache --set-config=max_size=5.0G | |
| ccache --set-config=sloppiness=file_macro,locale,time_macros | |
| ccache -p | |
| ccache -s | |
| - name: '⚙️ Add osrf ppa' | |
| run: | | |
| sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" >\ | |
| /etc/apt/sources.list.d/gazebo-stable.list' | |
| wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - | |
| sudo apt-get update | |
| - name: '⚙️ Prepare colcon workspace' | |
| run: | | |
| pip install vcstool colcon-common-extensions | |
| sudo mkdir -p /workspace/src /workspace/install | |
| sudo chmod -R a+rw /workspace | |
| cd /workspace/src | |
| wget -O - ${TAGS_YAML} | vcs import | |
| echo $(sort -u $(find . -iname 'packages-'$(lsb_release -cs)'.apt' -o -iname 'packages.apt') | grep -v -E "^libignition|^libsdformat" | tr '\n' ' ') \ | |
| > /workspace/install/pkg.txt | |
| xargs -a /workspace/install/pkg.txt sudo apt-get install -y --no-install-recommends | |
| env: | |
| TAGS_YAML: https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-${{ matrix.ignition }}.yaml | |
| - name: '🏗️ Build colcon workspace' | |
| run: | | |
| cd /workspace | |
| colcon graph | |
| colcon build \ | |
| --cmake-args \ | |
| -GNinja \ | |
| -DBUILD_TESTING:BOOL=OFF \ | |
| -DCMAKE_BUILD_TYPE=Debug \ | |
| --merge-install | |
| - name: '📈 Ccache stats' | |
| run: ccache --show-stats | |
| - name: '📦️ Compress the workspace' | |
| run: tar -I lz4 -cf /tmp/workspace_install.tar.lz4 /workspace/install | |
| - name: '⬆️ Upload the workspace' | |
| uses: actions/upload-artifact@v2 | |
| with: | |
| path: /tmp/workspace_install.tar.lz4 | |
| name: workspace-${{ matrix.ignition }} | |
| retention-days: 1 | |
| # =============== | |
| build-and-test: | |
| # =============== | |
| name: 'Build and Test [${{matrix.type}}|${{matrix.ignition}}|${{matrix.python}}]' | |
| if: always() | |
| needs: [ build-colcon ] | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: | |
| - ubuntu-latest | |
| type: | |
| - User | |
| - Developer | |
| ignition: | |
| # - dome | |
| # - edifice | |
| - fortress | |
| python: | |
| - 3.8 | |
| - 3.9 | |
| steps: | |
| - name: '🔍 Inspect Environment' | |
| run: | | |
| env | grep ^GITHUB | |
| echo "" | |
| cat ${GITHUB_EVENT_PATH} | |
| echo "" | |
| env | |
| - name: '⬇️ Install build dependencies' | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y --no-install-recommends \ | |
| lz4 \ | |
| git \ | |
| wget \ | |
| cmake \ | |
| gpg-agent \ | |
| ninja-build \ | |
| build-essential \ | |
| software-properties-common | |
| - name: '🐍 Initialize Python' | |
| uses: actions/setup-python@v2 | |
| with: | |
| python-version: ${{ matrix.python }} | |
| - name: '🔀 Clone repository' | |
| uses: actions/checkout@master | |
| - name: '🔀 Download all refs' | |
| run: git fetch --prune --unshallow | |
| # ================ | |
| # Install Ignition | |
| # ================ | |
| - name: '⚙️ Add osrf ppa' | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" >\ | |
| /etc/apt/sources.list.d/gazebo-stable.list' | |
| wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - | |
| sudo apt-get update | |
| - name: '[🔒️|stable] Install Ignition from ppa' | |
| if: | | |
| contains(matrix.os, 'ubuntu') && ( | |
| github.event_name == 'release' || | |
| github.ref == 'refs/heads/master' || | |
| (github.event_name == 'pull_request' && github.event.pull_request.base.ref == 'master') | |
| ) | |
| run: sudo apt-get install -y --no-install-recommends ignition-${{ matrix.ignition }} | |
| - name: '[🧪|nightly] Download pre-built colcon workspace' | |
| uses: actions/download-artifact@v2 | |
| if: | | |
| contains(matrix.os, 'ubuntu') && ( | |
| (github.event_name == 'push' && github.ref != 'refs/heads/master') || | |
| (github.event_name == 'pull_request' && github.event.pull_request.base.ref != 'master') | |
| ) | |
| with: | |
| path: /tmp | |
| name: workspace-${{ matrix.ignition }} | |
| - name: '[🧪|nightly] Setup colcon workspace' | |
| if: | | |
| contains(matrix.os, 'ubuntu') && ( | |
| (github.event_name == 'push' && github.ref != 'refs/heads/master') || | |
| (github.event_name == 'pull_request' && github.event.pull_request.base.ref != 'master') | |
| ) | |
| run: | | |
| sudo tar -I lz4 -xf /tmp/workspace_install.tar.lz4 -C / | |
| xargs -a /workspace/install/pkg.txt sudo apt-get install -y --no-install-recommends | |
| echo "source /workspace/install/setup.bash" | sudo tee -a /etc/bash.bashrc | |
| # ============= | |
| # Build project | |
| # ============= | |
| # This is required because ScenarIO needs to import the iDynTree targets | |
| - name: '⬇️ Install iDynTree dependencies' | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y --no-install-recommends \ | |
| libxml2-dev coinor-libipopt-dev libeigen3-dev libassimp-dev swig | |
| - name: '🤖 Install iDynTree' | |
| run: | | |
| pip install idyntree | |
| IDYNTREE_PYTHON_PKG=$(python3 -c 'import idyntree, pathlib; print(pathlib.Path(idyntree.__file__).parent)') | |
| echo "CMAKE_PREFIX_PATH=$IDYNTREE_PYTHON_PKG" >> $GITHUB_ENV | |
| # Note: In order to execute the setup.sh script, the file /etc/bash.bashrc must be sourced. | |
| # To do that, we change the shell to a bash interactive session with 'bash -i -e'. | |
| # Developer installation | |
| - name: '[👷|developer] Build and Install C++ ScenarIO' | |
| if: matrix.type == 'Developer' | |
| shell: bash -i -e {0} | |
| run: | | |
| env | |
| cmake -S . -B build/ \ | |
| -GNinja \ | |
| -DCMAKE_BUILD_TYPE=Debug \ | |
| -DIGNITION_DISTRIBUTION=$(python3 -c "print('${{ matrix.ignition }}'.capitalize())") | |
| sudo cmake --build build/ --target install | |
| - name: '[👷|developer] Install Python ScenarIO' | |
| if: matrix.type == 'Developer' | |
| run: pip install -e ./scenario | |
| # User installation | |
| - name: '[👤|user] Create wheel (default ignition)' | |
| if: matrix.type == 'User' && matrix.ignition == 'fortress' | |
| shell: bash -i -e {0} | |
| run: pip wheel --use-feature=in-tree-build -v -w dist/ ./scenario | |
| # Note: Calling "pip wheel" with "--global-option" forces all dependencies to be built from their sdist. | |
| # Since it's very slow, we create the wheel from setup.py without isolation (requires system deps). | |
| - name: '[👤|user] Create wheel (custom ignition)' | |
| if: matrix.type == 'User' && matrix.ignition != 'fortress' | |
| shell: bash -i -e {0} | |
| run: | | |
| pip install wheel setuptools-scm cmake-build-extension | |
| python3 ./scenario/setup.py bdist_wheel \ | |
| build_ext -DIGNITION_DISTRIBUTION=$(python3 -c "print('${{ matrix.ignition }}'.capitalize())") | |
| - name: '[👤|user] Install local wheel' | |
| if: matrix.type == 'User' | |
| run: pip install -v dist/scenario-*.whl | |
| - name: '🔍️ Inspect installed ScenarIO package' | |
| if: matrix.type == 'User' && contains(matrix.os, 'ubuntu') | |
| run: | | |
| sudo apt-get install -y --no-install-recommends tree | |
| tree $(python3 -c "import scenario, pathlib; print(pathlib.Path(scenario.__file__).parent)") | |
| # ==================== | |
| # Install gym-ignition | |
| # ==================== | |
| - name: '🐍 Install gym-ignition' | |
| run: pip install wheel && pip install .[all] | |
| # ============ | |
| # Test project | |
| # ============ | |
| - name: '🔍 Inspect installed versions' | |
| run: pip list | grep -E "^scenario|^gym-ignition" | |
| - name: '[🐍|scenario] Python Tests' | |
| shell: bash -i -e {0} | |
| run: pytest -m "scenario" | |
| - name: '[🚨|scenario] Python Tests with Valgrind' | |
| shell: bash -i -e {0} | |
| if: failure() | |
| run: | | |
| sudo apt-get install -y --no-install-recommends valgrind | |
| pip install colour-valgrind | |
| valgrind --log-file=/tmp/valgrind.log pytest -m "scenario" || colour-valgrind -t /tmp/valgrind.log | |
| - name: '[🐍|gym-ignition] Python Tests' | |
| shell: bash -i -e {0} | |
| run: pytest -m "gym_ignition" | |
| - name: '[🚨|gym-ignition] Python Tests with Valgrind' | |
| shell: bash -i -e {0} | |
| if: failure() | |
| run: | | |
| sudo apt-get install -y --no-install-recommends valgrind | |
| pip install colour-valgrind | |
| valgrind --log-file=/tmp/valgrind.log pytest -m "gym_ignition" || colour-valgrind -t /tmp/valgrind.log | |
| # ============================ | |
| # Upload artifacts (only User) | |
| # ============================ | |
| - name: '🗑️ Remove external wheels' | |
| if: matrix.type == 'User' | |
| run: find dist/ -type f -not -name 'scenario-*' -delete -print | |
| # We have to trick PyPI that our wheels are manylinux2014 even if they are not. | |
| # Unfortunately we cannot create self-contained wheels (neither the PEP600 perennial) | |
| # due to the Ignition architecture. | |
| - name: '📝 Rename scenario wheel' | |
| if: matrix.type == 'User' && contains(matrix.os, 'ubuntu') | |
| run: | | |
| ls dist/ | |
| find dist/ -type f -name "*.whl" -exec rename.ul linux manylinux2014 {} + | |
| ls dist/ | |
| - name: '🔍 Inspect dist folder' | |
| if: matrix.type == 'User' | |
| run: ls -lah dist/ | |
| - name: '⬆️ Upload artifacts' | |
| uses: actions/upload-artifact@v2 | |
| if: matrix.type == 'User' && matrix.ignition == 'fortress' | |
| with: | |
| path: dist/* | |
| name: dist | |
| # ======= | |
| # Website | |
| # ======= | |
| - name: '⬇️ Install website dependencies' | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y doxygen texlive-font-utils | |
| - name: '🔍 Inspect metadata' | |
| run: sphinx-multiversion --dump-metadata docs/sphinx/ build/ | |
| # This is necessary because otherwise the check for uncommitted apidoc | |
| # only detects additions, not removals. | |
| - name: '🗑️ Remove apidoc folder' | |
| run: rm -r docs/sphinx/apidoc | |
| - name: '🏗️ Build sphinx website' | |
| shell: bash -i -e {0} | |
| run: | | |
| [[ -d build ]] && sudo chown -R $(id -u):$(id -g) build/ | |
| cmake -S . -B build/ -DBUILD_DOCS:BOOL=ON | |
| cmake --build build/ --target sphinx | |
| - name: '🔍 Check new uncommitted apidoc' | |
| run: test $(git status --porcelain | wc -l) -eq 0 | |
| - name: '🔍 git status' | |
| if: ${{ failure() }} | |
| run: | | |
| git status | |
| git diff | |
| - name: '⬆️ Upload website folder' | |
| uses: actions/upload-artifact@v2 | |
| if: matrix.type == 'User' && matrix.ignition == 'fortress' && contains(matrix.os, 'ubuntu') | |
| with: | |
| path: build/html | |
| name: website | |
| retention-days: 1 | |
| # =================== | |
| website-deployment: | |
| # =================== | |
| name: 'Website Deployment' | |
| if: always() && needs.build-and-test.result == 'success' | |
| needs: [ build-and-test ] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: '⬇️ Download website folder' | |
| uses: actions/download-artifact@v2 | |
| with: | |
| path: build/html | |
| name: website | |
| - name: '🔍 Inspect html folder' | |
| run: ls -lah build/html | |
| - name: '🚀 Deploy' | |
| uses: JamesIves/github-pages-deploy-action@releases/v3 | |
| if: | | |
| github.event_name == 'push' && | |
| github.repository == 'robotology/gym-ignition' && | |
| (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/devel') | |
| with: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| BRANCH: gh-pages | |
| FOLDER: build/html | |
| CLEAN: true | |
| CLEAN_EXCLUDE: '[".gitignore", ".nojekyll"]' | |
| # ================= | |
| python-packaging: | |
| # ================= | |
| name: 'Python packaging' | |
| if: always() && needs.build-and-test.result == 'success' | |
| needs: [ build-and-test ] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: '🔍️ Inspect Environment' | |
| run: | | |
| env | grep ^GITHUB | |
| echo "" | |
| cat ${GITHUB_EVENT_PATH} | |
| echo "" | |
| env | |
| # Any Python3 version is ok in this job | |
| - name: '🐍 Initialize Python' | |
| uses: actions/setup-python@v2 | |
| with: | |
| python-version: 3.8 | |
| - name: '🔀 Clone repository' | |
| uses: actions/checkout@master | |
| - name: '🔀 Download all refs' | |
| run: git fetch --prune --unshallow | |
| # =============== | |
| # Download wheels | |
| # =============== | |
| - name: '⬇️ Download scenario wheels' | |
| uses: actions/download-artifact@v2 | |
| with: | |
| path: dist | |
| name: dist | |
| - name: '🔍 Inspect dist folder' | |
| run: ls -lah dist/ | |
| # =============== | |
| # Create packages | |
| # =============== | |
| # We use build to create sdist. Also pipx would work. | |
| # https://github.com/pypa/build | |
| # Compared to calling setup.py, the advantage of these tools is that | |
| # they automatically handle the build dependencies. | |
| - name: '🐍️️ Install dependencies' | |
| run: pip install build | |
| - name: '[📦|scenario]️ Create sdist' | |
| run: python -m build --sdist scenario/ -o dist/ | |
| - name: '[📦|gym-ignition]️ Create sdist and wheel' | |
| run: python -m build . | |
| # ================ | |
| # Upload artifacts | |
| # ================ | |
| - name: '🗑️ Remove external packages' | |
| run: find dist/ -type f -not \( -name '*scenario-*' -o -name '*gym_ignition-*' \) -delete -print | |
| - name: '🔍 Check packages' | |
| run: pipx run twine check dist/* | |
| - name: '🔍 Inspect dist folder' | |
| run: ls -lah dist/ | |
| - name: '⬆️ Upload artifacts' | |
| uses: actions/upload-artifact@v2 | |
| with: | |
| path: dist/* | |
| name: dist | |
| # ============ | |
| upload_pypi: | |
| # ============ | |
| name: Publish to PyPI | |
| if: always() && needs.build-and-test.result == 'success' && needs.python-packaging.result == 'success' | |
| needs: | |
| - build-and-test | |
| - python-packaging | |
| runs-on: ubuntu-latest | |
| # Devel branch produces pre-releases. | |
| # GitHub releases produce stable releases. | |
| steps: | |
| # Needed only to extract from the git repo the last revision | |
| - name: '🔀 Clone repository' | |
| uses: actions/checkout@master | |
| - name: '🔀 Download all refs' | |
| run: git fetch --prune --unshallow | |
| - name: '⬇️ Download Python packages' | |
| uses: actions/download-artifact@v2 | |
| with: | |
| path: dist | |
| name: dist | |
| - name: '🔍 Inspect dist folder' | |
| run: ls -lah dist/ | |
| # Validate the last tag accordingly to PEP440 | |
| # From https://stackoverflow.com/a/37972030/12150968 | |
| - name: '📌 Check PEP440 compliance' | |
| if: github.event_name == 'release' | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y source-highlight | |
| last_tag_with_v="$(git describe --abbrev=0 --tags)" | |
| last_tag=${last_tag_with_v#v} | |
| rel_regexp='^(\d+!)?(\d+)(\.\d+)+([\.\-\_])?((a(lpha)?|b(eta)?|c|r(c|ev)?|pre(view)?)\d*)?(\.?(post|dev)\d*)?$' | |
| echo "" | |
| echo $last_tag | |
| echo "" | |
| check-regexp ${rel_regexp} ${last_tag} | |
| match=$(check-regexp ${rel_regexp} ${last_tag} | grep matches | cut -d ' ' -f 5) | |
| test $match -eq 1 && true | |
| - name: '⬆️ Publish packages to PyPI' | |
| if: | | |
| github.repository == 'robotology/gym-ignition' && | |
| ((github.event_name == 'release' && github.event.action == 'published') || | |
| (github.event_name == 'push' && github.ref == 'refs/heads/devel')) | |
| uses: pypa/gh-action-pypi-publish@master | |
| with: | |
| user: __token__ | |
| password: ${{ secrets.PYPI_TOKEN }} | |
| skip_existing: true |