feat(ndt_scan_matcher): estimate the covariance of ndt scan matching … #11966
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: build-and-test | |
| on: | |
| push: | |
| branches: | |
| - main | |
| workflow_dispatch: | |
| env: | |
| CC: /usr/lib/ccache/gcc | |
| CXX: /usr/lib/ccache/g++ | |
| jobs: | |
| build-and-test: | |
| runs-on: [self-hosted, linux, X64] | |
| container: ${{ matrix.container }}${{ matrix.container-suffix }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| rosdistro: | |
| - humble | |
| container-suffix: | |
| - -cuda | |
| include: | |
| - rosdistro: humble | |
| container: ghcr.io/autowarefoundation/autoware:latest-prebuilt | |
| build-depends-repos: build_depends.repos | |
| steps: | |
| - name: Check out repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 1 | |
| - name: Show disk space before the tasks | |
| run: df -h | |
| - name: Remove exec_depend | |
| uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 | |
| - name: Get self packages | |
| id: get-self-packages | |
| uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 | |
| - name: Create ccache directory | |
| run: | | |
| mkdir -p ${CCACHE_DIR} | |
| du -sh ${CCACHE_DIR} && ccache -s | |
| shell: bash | |
| - name: Attempt to restore ccache | |
| uses: actions/cache/restore@v4 | |
| with: | |
| path: | | |
| /root/.ccache | |
| key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }} | |
| restore-keys: | | |
| ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}- | |
| - name: Limit ccache size | |
| run: | | |
| rm -f "${CCACHE_DIR}/ccache.conf" | |
| echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf" | |
| shell: bash | |
| - name: Show ccache stats before build | |
| run: du -sh ${CCACHE_DIR} && ccache -s | |
| shell: bash | |
| - name: Export CUDA state as a variable for adding to cache key | |
| run: | | |
| build_type_cuda_state=nocuda | |
| if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then | |
| build_type_cuda_state=cuda | |
| fi | |
| echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}" | |
| echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" | |
| shell: bash | |
| - name: Build | |
| if: ${{ steps.get-self-packages.outputs.self-packages != '' }} | |
| uses: autowarefoundation/autoware-github-actions/colcon-build@v1 | |
| with: | |
| rosdistro: ${{ matrix.rosdistro }} | |
| target-packages: ${{ steps.get-self-packages.outputs.self-packages }} | |
| build-depends-repos: ${{ matrix.build-depends-repos }} | |
| cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} | |
| - name: Show ccache stats after build | |
| run: du -sh ${CCACHE_DIR} && ccache -s | |
| shell: bash | |
| # Only keep save the -cuda version because cuda packages covers non-cuda packages too | |
| - name: Push the ccache cache | |
| if: matrix.container-suffix == '-cuda' | |
| uses: actions/cache/save@v4 | |
| with: | |
| path: | | |
| /root/.ccache | |
| key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }} | |
| - name: Test | |
| if: ${{ steps.get-self-packages.outputs.self-packages != '' }} | |
| id: test | |
| uses: autowarefoundation/autoware-github-actions/colcon-test@v1 | |
| with: | |
| rosdistro: ${{ matrix.rosdistro }} | |
| target-packages: ${{ steps.get-self-packages.outputs.self-packages }} | |
| build-depends-repos: ${{ matrix.build-depends-repos }} | |
| - name: Upload coverage to CodeCov | |
| if: ${{ steps.test.outputs.coverage-report-files != '' }} | |
| uses: codecov/codecov-action@v4 | |
| with: | |
| files: ${{ steps.test.outputs.coverage-report-files }} | |
| fail_ci_if_error: false | |
| verbose: true | |
| flags: total | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| - name: Show disk space after the tasks | |
| run: df -h |