add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,524 @@
+version: 2.1
+
+_commands:
+  common_commands: &common_commands
+    ccache_stats:
+      description: "CCache Stats"
+      parameters:
+        workspace:
+          type: string
+        when:
+          type: string
+          default: on_success
+      steps:
+        - run:
+            name: CCache Stats
+            working_directory: << parameters.workspace >>
+            environment:
+              CCACHE_DIR: << parameters.workspace >>/.ccache
+            command: |
+              ccache -s # show stats
+              ccache -z # zero stats
+              ccache -V # show version
+              ccache -p # show config
+            when: << parameters.when >>
+    restore_from_cache:
+      description: "Restore From Cache"
+      parameters:
+        key:
+          type: string
+        workspace:
+          type: string
+      steps:
+        - restore_cache:
+            name: Restore Cache << parameters.key >>
+            keys:
+              - "<< parameters.key >>-v13\
+                -{{ arch }}\
+                -{{ .Branch }}\
+                -{{ .Environment.CIRCLE_PR_NUMBER }}\
+                -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
+              - "<< parameters.key >>-v13\
+                -{{ arch }}\
+                -main\
+                -<no value>\
+                -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
+    save_to_cache:
+      description: "Save To Cache"
+      parameters:
+        key:
+          type: string
+        workspace:
+          type: string
+        path:
+          type: string
+        when:
+          type: string
+          default: on_success
+      steps:
+        - save_cache:
+            name: Save Cache << parameters.key >>
+            key: "<< parameters.key >>-v13\
+              -{{ arch }}\
+              -{{ .Branch }}\
+              -{{ .Environment.CIRCLE_PR_NUMBER }}\
+              -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}\
+              -{{ epoch }}"
+            paths:
+              - << parameters.path >>/.ccache
+              - << parameters.path >>/build
+              - << parameters.path >>/install
+              - << parameters.path >>/log
+              - << parameters.path >>/test_results
+            when: << parameters.when >>
+    install_dependencies:
+      description: "Install Dependencies"
+      parameters:
+        underlay:
+          type: string
+        workspace:
+          type: string
+      steps:
+        - run:
+            name: Install Dependencies | << parameters.workspace >>
+            working_directory: << parameters.workspace >>
+            command: |
+              . << parameters.underlay >>/install/setup.sh
+              AMENT_PREFIX_PATH=$(echo "$AMENT_PREFIX_PATH" | \
+                sed -e 's|:/opt/ros/'$ROS_DISTRO'$||')
+              if [ "$AMENT_PREFIX_PATH" == "/opt/ros/$ROS_DISTRO" ]
+              then
+                unset AMENT_PREFIX_PATH
+              fi
+
+              cat << parameters.underlay >>/lockfile.txt > lockfile.txt
+              vcs export --exact << parameters.underlay >>/src | \
+                (echo vcs_export && cat) >> lockfile.txt
+              sha256sum $PWD/lockfile.txt >> lockfile.txt
+
+              apt-get update
+              rosdep update --rosdistro $ROS_DISTRO
+              dependencies=$(
+                rosdep install -q -y \
+                  --from-paths src \
+                  --ignore-src \
+                  --skip-keys " \
+                    slam_toolbox \
+                    " \
+                  --verbose | \
+                awk '$1 ~ /^resolution\:/' | \
+                awk -F'[][]' '{print $2}' | \
+                tr -d \, | xargs -n1 | sort -u | xargs)
+              dpkg --list dpkg $dependencies | \
+                (echo workspace_dependencies && cat) >> lockfile.txt
+              sha256sum $PWD/lockfile.txt >> lockfile.txt
+    setup_workspace:
+      description: "Setup Workspace"
+      parameters:
+        underlay:
+          type: string
+        key:
+          type: string
+        workspace:
+          type: string
+        mixins:
+          type: string
+        build:
+          default: true
+          type: boolean
+      steps:
+        - store_artifacts:
+            path: << parameters.workspace >>/lockfile.txt
+        - restore_from_cache:
+            key: << parameters.key >>
+            workspace: << parameters.workspace >>
+        - when:
+            condition: << parameters.build >>
+            steps:
+              - ccache_stats:
+                  workspace: << parameters.workspace >>
+                  when: always
+              - run:
+                  name: Build Workspace | << parameters.workspace >>
+                  working_directory: << parameters.workspace >>
+                  environment:
+                    CCACHE_DIR: << parameters.workspace >>/.ccache
+                  command: |
+                    colcon cache lock
+
+                    BUILD_UNFINISHED=$(
+                      colcon list \
+                        --names-only \
+                        --packages-skip-build-finished \
+                      | xargs)
+                    echo BUILD_UNFINISHED: $BUILD_UNFINISHED
+
+                    BUILD_FAILED=$(
+                      colcon list \
+                        --names-only \
+                        --packages-select-build-failed \
+                      | xargs)
+                    echo BUILD_FAILED: $BUILD_FAILED
+
+                    BUILD_INVALID=$(
+                      colcon list \
+                        --names-only \
+                        --packages-select-cache-invalid \
+                        --packages-select-cache-key build \
+                      | xargs)
+                    echo BUILD_INVALID: $BUILD_INVALID
+
+                    BUILD_PACKAGES=""
+                    if [ -n "$BUILD_UNFINISHED" ] || \
+                       [ -n "$BUILD_FAILED" ] || \
+                       [ -n "$BUILD_INVALID" ]
+                    then
+                      BUILD_PACKAGES=$(
+                        colcon list \
+                          --names-only \
+                          --packages-above \
+                            $BUILD_UNFINISHED \
+                            $BUILD_FAILED \
+                            $BUILD_INVALID \
+                        | xargs)
+                    fi
+                    echo BUILD_PACKAGES: $BUILD_PACKAGES
+
+                    colcon clean packages --yes \
+                      --packages-select ${BUILD_PACKAGES} \
+                      --base-select install
+
+                    . << parameters.underlay >>/install/setup.sh
+                    colcon build \
+                      --packages-select ${BUILD_PACKAGES} \
+                      --mixin << parameters.mixins >>
+              - ccache_stats:
+                  workspace: << parameters.workspace >>
+                  when: always
+              - save_to_cache:
+                  key: << parameters.key >>
+                  path: << parameters.workspace >>
+                  workspace: << parameters.workspace >>
+                  when: always
+              - run:
+                  name: Copy Build Logs
+                  working_directory: << parameters.workspace >>
+                  command: cp -rH log/latest_build log/build
+                  when: always
+              - store_artifacts:
+                    path: << parameters.workspace >>/log/build
+    test_workspace:
+      description: "Test Workspace"
+      parameters:
+        key:
+          type: string
+        workspace:
+          type: string
+        cache_test:
+          type: boolean
+      steps:
+        - run:
+            name: Test Workspace | << parameters.workspace >>
+            working_directory: << parameters.workspace >>
+            command: |
+              TEST_UNPASSED=$(
+                colcon list \
+                  --names-only \
+                  --packages-skip-test-passed \
+                | xargs)
+              echo TEST_UNPASSED: $TEST_UNPASSED
+
+              TEST_FAILURES=$(
+                colcon list \
+                  --names-only \
+                  --packages-select-test-failures \
+                | xargs)
+              echo TEST_FAILURES: $TEST_FAILURES
+
+              TEST_INVALID=$(
+                colcon list \
+                  --names-only \
+                  --packages-select-cache-invalid \
+                  --packages-select-cache-key test \
+                | xargs)
+              echo TEST_INVALID: $TEST_INVALID
+
+              TEST_PACKAGES=""
+              if [ -n "$TEST_UNPASSED" ] || \
+                 [ -n "$TEST_FAILURES" ] || \
+                 [ -n "$TEST_INVALID" ]
+              then
+                TEST_PACKAGES=$(
+                  colcon list \
+                    --names-only \
+                    --packages-above \
+                      $TEST_UNPASSED \
+                      $TEST_FAILURES \
+                      $TEST_INVALID)
+              fi
+              if ( ! << parameters.cache_test >> )
+              then
+                TEST_PACKAGES=$(
+                  colcon list \
+                    --names-only)
+              fi
+              TEST_PACKAGES=$(
+                echo $TEST_PACKAGES \
+                | circleci tests split \
+                  --split-by=timings \
+                  --timings-type=classname \
+                  --show-counts \
+                | xargs)
+              echo TEST_PACKAGES: $TEST_PACKAGES
+
+              colcon clean packages --yes \
+                --packages-select ${TEST_PACKAGES} \
+                --base-select test_result
+              colcon clean packages --yes \
+                --packages-select ${TEST_PACKAGES} \
+                --base-select build \
+                --clean-match \
+                  "*.gcda"
+
+              . install/setup.sh
+              set -o xtrace
+              colcon test \
+                --packages-select ${TEST_PACKAGES}
+              colcon test-result \
+                --verbose
+        - when:
+            condition: << parameters.cache_test >>
+            steps:
+              - save_to_cache:
+                  key: << parameters.key >>
+                  path: << parameters.workspace >>
+                  workspace: << parameters.workspace >>
+                  when: always
+        - run:
+            name: Copy Test Logs
+            working_directory: << parameters.workspace >>
+            command: cp -rH log/latest_test log/test
+            when: always
+        - store_artifacts:
+            path: << parameters.workspace >>/log/test
+        - store_artifacts:
+            path: << parameters.workspace >>/test_results
+        - run:
+            name: Prepare Test Results
+            working_directory: << parameters.workspace >>
+            command: find test_results -name "Test.xml" -type f -delete
+            when: always
+        - store_test_results:
+            path: << parameters.workspace >>/test_results
+
+_steps:
+  pre_checkout: &pre_checkout
+    run:
+      name: Pre Checkout
+      command: |
+        mkdir -p $ROS_WS/src && cd $ROS_WS
+        ln -s /opt/ros/$ROS_DISTRO install
+
+        echo $CACHE_NONCE | \
+          (echo cache_nonce && cat) >> lockfile.txt
+        sha256sum $PWD/lockfile.txt >> lockfile.txt
+
+        TZ=utc stat -c '%y' /ros_entrypoint.sh | \
+          (echo ros_entrypoint && cat) >> lockfile.txt
+        sha256sum $PWD/lockfile.txt >> lockfile.txt
+
+        rm -rf $OVERLAY_WS/*
+  on_checkout: &on_checkout
+    checkout:
+      path: src/navigation2
+  post_checkout: &post_checkout
+    run:
+      name: Post Checkout
+      command: |
+        cp $OVERLAY_WS/src/navigation2/.circleci/defaults.yaml $COLCON_DEFAULTS_FILE
+        if ! cmp \
+          $OVERLAY_WS/src/navigation2/tools/underlay.repos \
+          $UNDERLAY_WS/underlay.repos >/dev/null 2>&1
+        then
+          echo "Importing Underlay"
+          cp $OVERLAY_WS/src/navigation2/tools/underlay.repos \
+            $UNDERLAY_WS/underlay.repos
+          vcs import $UNDERLAY_WS/src \
+            < $UNDERLAY_WS/underlay.repos
+        fi
+  install_underlay_dependencies: &install_underlay_dependencies
+    install_dependencies:
+      underlay: /opt/ros_ws
+      workspace: /opt/underlay_ws
+  setup_underlay_workspace: &setup_underlay_workspace
+    setup_workspace: &setup_workspace_underlay
+      key: underlay_ws
+      underlay: /opt/ros_ws
+      workspace: /opt/underlay_ws
+      mixins: ${UNDERLAY_MIXINS}
+  restore_underlay_workspace: &restore_underlay_workspace
+    setup_workspace:
+      <<: *setup_workspace_underlay
+      build: false
+  install_overlay_dependencies: &install_overlay_dependencies
+    install_dependencies:
+      underlay: /opt/underlay_ws
+      workspace: /opt/overlay_ws
+  setup_overlay_workspace: &setup_overlay_workspace
+    setup_workspace: &setup_workspace_overlay
+      key: overlay_ws
+      underlay: /opt/underlay_ws
+      workspace: /opt/overlay_ws
+      mixins: ${OVERLAY_MIXINS}
+  restore_overlay_workspace: &restore_overlay_workspace
+    setup_workspace:
+      <<: *setup_workspace_overlay
+      build: false
+  test_overlay_workspace: &test_overlay_workspace
+    test_workspace:
+      key: overlay_ws
+      workspace: /opt/overlay_ws
+      cache_test: << parameters.cache_test >>
+  collect_overlay_coverage: &collect_overlay_coverage
+    run:
+      name: Collect Code Coverage
+      working_directory: /opt/overlay_ws
+      command: src/navigation2/tools/code_coverage_report.bash ci
+      when: always
+  upload_overlay_coverage: &upload_overlay_coverage
+    run:
+      name: Upload Code Coverage
+      working_directory: /opt/overlay_ws
+      command: |
+        curl -s https://codecov.io/bash > codecov
+        codecov_version=$(grep -o 'VERSION=\"[0-9\.]*\"' codecov | cut -d'"' -f2)
+        shasum -a 512 -c <(curl -s "https://raw.githubusercontent.com/codecov/codecov-bash/${codecov_version}/SHA512SUM" | grep -w "codecov")
+        bash codecov \
+          -f "lcov/total_coverage.info" \
+          -R "src/navigation2" \
+          -n "$RMW_IMPLEMENTATION" \
+          -Z || echo 'Codecov upload failed'
+      when: always
+
+commands:
+  <<: *common_commands
+  checkout_source:
+    description: "Checkout Source"
+    steps:
+      - *pre_checkout
+      - *on_checkout
+      - *post_checkout
+  setup_dependencies:
+    description: "Setup Dependencies"
+    steps:
+      - *install_underlay_dependencies
+      - *setup_underlay_workspace
+      - *install_overlay_dependencies
+  build_source:
+    description: "Build Source"
+    steps:
+      - *setup_overlay_workspace
+  restore_build:
+    description: "Restore Build"
+    steps:
+      - checkout_source
+      - *install_underlay_dependencies
+      - *restore_underlay_workspace
+      - *install_overlay_dependencies
+      - *restore_overlay_workspace
+  test_build:
+    description: "Test Build"
+    parameters:
+      cache_test:
+        type: boolean
+    steps:
+      - *test_overlay_workspace
+  report_coverage:
+    description: "Report Coverage"
+    steps:
+      - *collect_overlay_coverage
+      - *upload_overlay_coverage
+
+_environments:
+  common_environment: &common_environment
+    ROS_WS: "/opt/ros_ws"
+    UNDERLAY_WS: "/opt/underlay_ws"
+    OVERLAY_WS: "/opt/overlay_ws"
+    UNDERLAY_MIXINS: "release ccache lld"
+    CCACHE_LOGFILE: "/tmp/ccache.log"
+    CCACHE_MAXSIZE: "200M"
+    MAKEFLAGS: "-j 2 -l 2 "
+    COLCON_DEFAULTS_FILE: "/tmp/defaults.yaml"
+    RCUTILS_LOGGING_BUFFERED_STREAM: "0"
+    RCUTILS_LOGGING_USE_STDOUT: "0"
+    DEBIAN_FRONTEND: "noninteractive"
+    PYTHONUNBUFFERED: "1"
+
+executors:
+  release_exec:
+    docker:
+      - image: ghcr.io/ros-navigation/navigation2:humble
+    resource_class: large
+    working_directory: /opt/overlay_ws
+    environment:
+      <<: *common_environment
+      CACHE_NONCE: "Release"
+      OVERLAY_MIXINS: "release ccache coverage-gcc lld"
+
+_jobs:
+  job_test: &job_test
+    parameters:
+      cache_test:
+        type: boolean
+        default: false
+      rmw:
+        default: "rmw_cyclonedds_cpp"
+        type: string
+    parallelism: 1
+    environment:
+      RMW_IMPLEMENTATION: << parameters.rmw >>
+
+jobs:
+  release_build: &release_build
+    executor: release_exec
+    steps:
+      - checkout_source
+      - setup_dependencies
+      - build_source
+  release_test: &release_test
+    <<: *job_test
+    executor: release_exec
+    steps:
+      - restore_build
+      - test_build:
+          cache_test: << parameters.cache_test >>
+      - report_coverage
+
+workflows:
+  version: 2
+  build_and_test:
+    jobs:
+      - release_build
+      - release_test:
+          requires:
+            - release_build
+          cache_test: true
+  nightly:
+    jobs:
+      - release_build
+      - release_test:
+          requires:
+            - release_build
+          matrix:
+            parameters:
+              rmw:
+                - rmw_connextdds
+                - rmw_cyclonedds_cpp
+                - rmw_fastrtps_cpp
+    triggers:
+      - schedule:
+          cron: "0 13 * * *"
+          filters:
+            branches:
+              only:
+                - main
@@ -0,0 +1,16 @@
+_common: &common
+  "test-result-base": "test_results"
+
+"clean.packages":
+  <<: *common
+"build":
+  <<: *common
+  "executor": "parallel"
+  "parallel-workers": 4
+  "symlink-install": true
+"test":
+  <<: *common
+  "executor": "parallel"
+  "parallel-workers": 1
+"test-result":
+  <<: *common