feat(arcor2_ur): integration of UR robots #1099
Workflow file for this run
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| # inspired by https://github.com/pantsbuild/example-python/blob/main/.github/workflows/pants.yaml | |
| # also see https://stackoverflow.com/a/66632107/3142796 | |
| name: Pants | |
| on: | |
| pull_request: | |
| branches: | |
| - master | |
| jobs: | |
| org-check: | |
| name: Check GitHub Organization | |
| if: ${{ github.repository_owner == 'robofit' }} | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - name: Noop | |
| run: "true" | |
| build: | |
| env: | |
| PANTS_CONFIG_FILES: pants.ci.toml | |
| runs-on: ubuntu-24.04 | |
| needs: org-check | |
| strategy: | |
| matrix: | |
| python-version: ['3.11'] | |
| steps: | |
| - name: Maximize build space | |
| uses: easimon/maximize-build-space@v10 | |
| with: | |
| root-reserve-mb: 30000 | |
| swap-size-mb: 1024 | |
| remove-dotnet: 'true' | |
| remove-android: 'true' | |
| remove-haskell: 'true' | |
| remove-docker-images: 'true' | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| lfs: true | |
| - name: Checkout LFS objects | |
| run: git lfs checkout | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - uses: ros-tooling/[email protected] | |
| with: | |
| required-ros-distributions: jazzy | |
| - uses: pantsbuild/actions/init-pants@v5-scie-pants | |
| with: | |
| pants-python-version: ${{ matrix.python-version }} | |
| gha-cache-key: cache0-py${{ matrix.python-version }} | |
| named-caches-hash: ${{ hashFiles('/3rdparty/constraints.txt') }} | |
| cache-lmdb-store: 'true' # defaults to 'false' | |
| base-branch: master | |
| - name: Check BUILD files | |
| run: | | |
| pants --changed-since=HEAD update-build-files --check | |
| - name: install system dependencies | |
| run: | # cargo is required to build fastuuid (no wheels for Python 3.11) | |
| sudo apt install jq cargo | |
| - name: install ROS 2 dependencies | |
| run: | # copied from arcor2_ur Dockerfile TODO move it into some bash script to have it in one place | |
| sudo apt install ros-jazzy-ros-base=0.11.0-1noble.20240731.172749 ros-jazzy-ur=2.4.9-1noble.20240820.020145 ros-jazzy-moveit-py=2.10.0-1noble.20240731.183757 | |
| - name: Lint | |
| run: | | |
| pants --changed-since=origin/master lint | |
| - name: Typecheck | |
| run: | | |
| pants check --changed-since=origin/master --changed-dependees=transitive | |
| - name: Test | |
| run: | | |
| source /opt/ros/jazzy/setup.bash | |
| pants --changed-since=origin/master --changed-dependees=transitive test | |
| - name: Build Docker images | |
| run: | # filter out non-essential docker images (there was a problem with full storage on github) | |
| pants filter --target-type=docker_image --changed-since=origin/master --changed-dependees=transitive | grep -v arcor2_3d_mouse | grep -v arcor2_fanuc arcor2_fanuc_upload_object_types | xargs pants package | |
| - name: Build Python packages | |
| run: | | |
| pants filter --target-type=python_distribution :: | xargs pants package | |
| # check for cyclic dependencies or other problems | |
| python -m venv ./tstvenv | |
| source ./tstvenv/bin/activate | |
| pip install dist/*.tar.gz | |
| pip install pipdeptree | |
| pipdeptree -w fail | |
| - name: Upload pants log | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: pants-log | |
| path: .pants.d/pants.log | |
| if: always() # We want the log even on failures. | |
| - name: Prune pants cache | |
| run: | | |
| ./build-support/nuke-cache.sh | |
| if: always() |