Add toleranced waypoints to TrajOpt Solver #762
Workflow file for this run
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| name: Code Quality | |
| on: | |
| push: | |
| branches: | |
| - master | |
| - 'dev**' | |
| pull_request: | |
| paths: | |
| - 'tesseract**' | |
| - '.github/workflows/code_quality.yml' | |
| - '.clang-tidy' | |
| schedule: | |
| - cron: '0 5 * * *' | |
| jobs: | |
| ci: | |
| name: ${{ matrix.job_type }} | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| job_type: [clang-tidy, codecov] | |
| include: | |
| - job_type: clang-tidy | |
| env: | |
| TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON" | |
| - job_type: codecov | |
| env: | |
| TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF" | |
| container: | |
| image: ghcr.io/tesseract-robotics/tesseract:focal-master | |
| env: | |
| CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.job_type }}/.ccache" | |
| DEBIAN_FRONTEND: noninteractive | |
| TZ: Etc/UTC | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| with: | |
| path: target_ws/src | |
| - name: Install Depends | |
| shell: bash | |
| run: | | |
| apt update | |
| apt upgrade -y | |
| apt install -y wget software-properties-common | |
| add-apt-repository ppa:levi-armstrong/tesseract-robotics | |
| apt install -y clang-tidy libompl-dev taskflow | |
| - name: Build and Tests | |
| uses: tesseract-robotics/colcon-action@v2 | |
| with: | |
| before-script: source /opt/tesseract/install/setup.bash | |
| ccache-prefix: ${{ matrix.distro }} | |
| vcs-file: dependencies_unstable.repos | |
| run-tests: false | |
| upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| target-path: target_ws/src | |
| target-args: --cmake-args ${{ matrix.env.TARGET_CMAKE_ARGS }} | |
| - name: Upload CodeCov Results | |
| shell: bash | |
| run: | | |
| if [[ "${{ matrix.job_type }}" == "codecov" ]]; then | |
| source $GITHUB_WORKSPACE/target_ws/install/setup.bash | |
| cd $GITHUB_WORKSPACE/target_ws | |
| colcon build --cmake-target ccov-all --packages-select tesseract_command_language tesseract_motion_planners tesseract_task_composer tesseract_time_parameterization | |
| bash <(curl -s https://codecov.io/bash) -t 6e7f085e-77c5-47fc-a4a9-c2dd5ef1d78d -s $GITHUB_WORKSPACE/target_ws/build -f *all-merged.info | |
| fi |