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Add Industrial CI Action
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‎.ci.prepare_codecov‎

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#!/bin/bash
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pushd $BASEDIR
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BLUE='\033[0;34m'
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NOCOLOR='\033[0m'
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apt-get install -qq lcov
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echo -e "${BLUE}Capture coverage info${NOCOLOR}"
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lcov --capture --directory target_ws --output-file coverage.info
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echo -e "${BLUE}Extract repository files${NOCOLOR}"
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lcov --extract coverage.info "$BASEDIR/target_ws/src/$TARGET_REPO_NAME/*" --output-file coverage.info
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echo -e "${BLUE}Filter out test files${NOCOLOR}"
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lcov --remove coverage.info '*/test/*' --output-file coverage.info
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echo -e "${BLUE}Output coverage data for debugging${NOCOLOR}"
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lcov --list coverage.info
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popd

‎.github/workflows/industrial_ci_action.yml‎

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# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
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# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
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name: BuildAndTest
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on:
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workflow_dispatch:
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pull_request:
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push:
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branches:
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- main
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jobs:
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industrial_ci:
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strategy:
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matrix:
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env:
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- {
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IMAGE: 'foxy-ci',
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CCOV: true,
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AFTER_RUN_TARGET_TEST: './.ci.prepare_codecov'
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}
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- {
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IMAGE: 'foxy-ci-testing',
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}
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env:
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DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
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UPSTREAM_WORKSPACE: moveit2.repos
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CCOV: ${{ matrix.env.CCOV }}
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AFTER_SETUP_UPSTREAM_WORKSPACE: 'vcs pull $BASEDIR/upstream_ws/src'
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TARGET_CMAKE_ARGS: >
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-DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'RelWithDebInfo' || 'Release'}}
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${{ matrix.env.CCOV && '-DCMAKE_CXX_FLAGS="--coverage" --no-warn-unused-cli' || '' }}
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CCACHE_DIR: "${{ github.workspace }}/.ccache"
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BASEDIR: ${{ github.workspace }}/.work
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CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}"
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name: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && ' + ccov' || ''}}"
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runs-on: ubuntu-latest
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steps:
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- name: "Free up disk space"
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if: ${{ env.CCOV }}
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run: |
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sudo apt-get -qq purge build-essential ghc*
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sudo apt-get clean
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docker system prune -af
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sudo mkdir /mnt/ccache
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mkdir ${{ env.CCACHE_DIR }}
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sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache
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sudo rm -rf /usr/local/*
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df -h
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- uses: actions/checkout@v2
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- name: cache upstream_ws
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/upstream_ws
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key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}-${{ github.run_id }}
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restore-keys: |
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upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}
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- name: cache target_ws
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if: ${{ ! env.CCOV }}
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/target_ws
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key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt') }}-${{ hashFiles('**/package.xml') }}-${{ github.run_id }}
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restore-keys: |
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target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt') }}-${{ hashFiles('**/package.xml') }}
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- name: cache ccache
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uses: pat-s/[email protected]
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
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ccache-${{ env.CACHE_PREFIX }}
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- name: industrial_ci
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uses: 'ros-industrial/industrial_ci@master'
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env: ${{ matrix.env }}
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- name: upload test artifacts (on failure)
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uses: actions/upload-artifact@v2
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if: failure()
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with:
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name: test-results
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path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
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- name: upload codecov report
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uses: codecov/codecov-action@v1
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if: ${{ env.CCOV }}
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with:
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files: ${{ env.BASEDIR }}/coverage.info
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- name: prepare target_ws for cache
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if: ${{ always() && ! env.CCOV }}
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run:
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du -sh ${{ env.BASEDIR }}/target_ws
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sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
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sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
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du -sh ${{ env.BASEDIR }}/target_ws

‎README.md‎

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## Continuous Integration Status
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[![Build Status](https://travis-ci.com/ros-planning/moveit2.svg?branch=main)](https://travis-ci.com/ros-planning/moveit2)
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[![Format](https://github.com/ros-planning/moveit2/actions/workflows/format.yml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2/actions/workflows/format.yml?branch=main) [![BuildAndTest](https://github.com/ros-planning/moveit2/actions/workflows/industrial_ci_action.yml/badge.svg?branch=main)](https://github.com/ros-planning/moveit2/actions/workflows/industrial_ci_action.yml?branch=main) [![codecov](https://codecov.io/gh/ros-planning/moveit2/branch/main/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit2)
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## General MoveIt Documentation
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‎moveit2.repos‎

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repositories:
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moveit2:
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type: git
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url: https://github.com/ros-planning/moveit2
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version: main
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moveit_msgs:
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type: git
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url: https://github.com/ros-planning/moveit_msgs

‎moveit_ros/moveit_servo/CMakeLists.txt‎

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ament_add_gtest(test_low_pass_filter test/test_low_pass_filter.cpp)
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target_link_libraries(test_low_pass_filter ${SERVO_LIB_NAME})
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# This test seems flaky, disable it until it can be made less flaky
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# Unit test for ServoCalcs
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ament_add_gtest_executable(
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unit_test_servo_calcs
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test/unit_test_servo_calcs.cpp
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)
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target_link_libraries(unit_test_servo_calcs ${SERVO_LIB_NAME})
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ament_target_dependencies(unit_test_servo_calcs ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
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add_ros_test(test/launch/unit_test_servo_calcs.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
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# ament_add_gtest_executable(
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# unit_test_servo_calcs
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# test/unit_test_servo_calcs.cpp
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# )
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# target_link_libraries(unit_test_servo_calcs ${SERVO_LIB_NAME})
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# ament_target_dependencies(unit_test_servo_calcs ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
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# add_ros_test(test/launch/unit_test_servo_calcs.test.py ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
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# end Unit test for ServoCalcs
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# Servo integration launch test

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