Rtk filtering offset #207
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| name: CI | |
| on: | |
| pull_request: | |
| branches: | |
| - master | |
| - integration | |
| push: | |
| branches: | |
| - master | |
| jobs: | |
| ci: | |
| name: CI | |
| runs-on: ubuntu-latest | |
| container: | |
| image: umrover1/ros:latest | |
| # GitHub is silly and requires us to be running as root for their checkout action | |
| # Our docker container exports the user mrover, so we have to specific this explicitly | |
| options: --user root | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| lfs: "true" | |
| # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path | |
| path: "src/mrover" | |
| - name: Ensure Python Requirements | |
| run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && pip install --no-cache-dir -e "$GITHUB_WORKSPACE/src/mrover[dev]" | |
| - name: Style Check | |
| run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh | |
| - name: Update ROS APT | |
| if: github.event.pull_request.draft == false | |
| run: runuser -u mrover -- rosdep update | |
| - name: Ensure ROS APT Requirements | |
| if: github.event.pull_request.draft == false | |
| run: runuser -u mrover -- rosdep install --from-paths "$GITHUB_WORKSPACE/src" --ignore-src -r -y --rosdistro noetic | |
| - name: Copy Catkin Profiles | |
| if: github.event.pull_request.draft == false | |
| run: rsync -r $GITHUB_WORKSPACE/src/mrover/ansible/roles/build/files/profiles $GITHUB_WORKSPACE/.catkin_tools | |
| - name: Initialize | |
| if: github.event.pull_request.draft == false | |
| run: . /opt/ros/noetic/setup.sh && catkin init && catkin profile set ci | |
| - name: Build Without Clang Tidy | |
| if: github.event.pull_request.draft == false && github.event.pull_request.base.ref != 'refs/heads/master' | |
| run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build | |
| - name: Build With Clang Tidy | |
| if : github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master' | |
| run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build -DCMAKE_CXX_CLANG_TIDY=clang-tidy-16 | |
| - name: Test | |
| if: github.event.pull_request.draft == false | |
| run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test && rostest mrover integration.test --text |