Merge pull request #77 from marip8/update/ci

Updated CI to be based on `tesseract_planning` CI docker image

.clang-tidy

@@ -0,0 +1,88 @@
+---
+Checks: >
+    -*,
+    clang-diagnostic-*,
+    -clang-diagnostic-unknown-warning-option,
+    clang-analyzer-*,
+    -clang-analyzer-cplusplus*,
+    bugprone-*,
+    -bugprone-easily-swappable-parameters,
+    -bugprone-exception-escape,
+    cppcoreguidelines-*,
+    -cppcoreguidelines-macro-usage,
+    -cppcoreguidelines-pro-type-static-cast-downcast,
+    -cppcoreguidelines-pro-type-vararg,
+    -cppcoreguidelines-pro-type-union-access,
+    -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+    -cppcoreguidelines-pro-bounds-pointer-arithmetic,
+    -cppcoreguidelines-pro-bounds-constant-array-index,
+    -cppcoreguidelines-avoid-magic-numbers,
+    -cppcoreguidelines-non-private-member-variables-in-classes,
+    misc-*,
+    -misc-non-private-member-variables-in-classes,
+    -misc-no-recursion,
+    modernize-*,
+    -modernize-use-trailing-return-type,
+    -modernize-use-nodiscard,
+    performance-*,
+    readability-*,
+    -readability-braces-around-statements,
+    -readability-named-parameter,
+    -readability-magic-numbers,
+    -readability-isolate-declaration,
+    -readability-function-cognitive-complexity,
+    -readability-use-anyofallof,
+    -readability-identifier-length,
+    -readability-suspicious-call-argument,
+    -readability-function-size
+WarningsAsErrors: >
+    -*,
+    clang-diagnostic-*,
+    -clang-diagnostic-unknown-warning-option,
+    clang-analyzer-*,
+    -clang-analyzer-cplusplus*,
+    bugprone-*,
+    -bugprone-easily-swappable-parameters,
+    -bugprone-exception-escape,
+    cppcoreguidelines-*,
+    -cppcoreguidelines-macro-usage,
+    -cppcoreguidelines-pro-type-static-cast-downcast,
+    -cppcoreguidelines-pro-type-vararg,
+    -cppcoreguidelines-pro-type-union-access,
+    -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+    -cppcoreguidelines-pro-bounds-pointer-arithmetic,
+    -cppcoreguidelines-pro-bounds-constant-array-index,
+    -cppcoreguidelines-avoid-magic-numbers,
+    -cppcoreguidelines-non-private-member-variables-in-classes,
+    misc-*,
+    -misc-non-private-member-variables-in-classes,
+    -misc-no-recursion,
+    modernize-*,
+    -modernize-use-trailing-return-type,
+    -modernize-use-nodiscard,
+    performance-*,
+    readability-*,
+    -readability-braces-around-statements,
+    -readability-named-parameter,
+    -readability-magic-numbers,
+    -readability-isolate-declaration,
+    -readability-function-cognitive-complexity
+    -readability-use-anyofallof,
+    -readability-identifier-length,
+    -readability-suspicious-call-argument,
+    -readability-function-size
+HeaderFilterRegex: '.*'
+AnalyzeTemporaryDtors: false
+FormatStyle:     none
+CheckOptions:
+  - key:             modernize-use-override.AllowOverrideAndFinal
+    value:           '1'
+  - key:             cppcoreguidelines-explicit-virtual-functions.AllowOverrideAndFinal
+    value:           '1'
+  - key:             cppcoreguidelines-special-member-functions.AllowSoleDefaultDtor
+    value:           '1'
+  - key:             cppcoreguidelines-pro-type-member-init.IgnoreArrays
+    value:           '1'
+ExtraArgs:
+  - '-std=c++17'
+...

.github/workflows/clang_format.yml

@@ -4,49 +4,27 @@ on:
   push:
     branches:
       - master
+      - 'dev**'
   pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/clang_format.yml'
+      - '**clang-format'
   schedule:
     - cron: '0 5 * * *'
 
 jobs:
-  industrial_ci:
-    name: Format
-    runs-on: ubuntu-latest
-    env:
-      CI_NAME: Clang-Format
-      OS_NAME: ubuntu
-      OS_CODE_NAME: focal
-      ROS_DISTRO: foxy
-      ROS_REPO: main
-      ROSDEP_SKIP_KEYS: "catkin taskflow"
-      DOCKER_IMAGE: "ros:foxy"
-      CLANG_FORMAT_CHECK: file
-      CLANG_FORMAT_VERSION: 10
+  clang_format:
+    runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
 
-      - name: Free Disk Space
+      - name: Run clang format
         run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
-
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        uses: actions/cache@v1.1.0
-        with:
-          path: ${{ env.CI_NAME }}/.ccache
-          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ env.CI_NAME }}-ccache-
-
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{env}}
+          sudo apt update
+          sudo apt install -y git clang-format
+          if [ $? -ge 1 ]; then return 1; fi
+          ./.run-clang-format
+          if [ $? -ge 1 ]; then return 1; fi
+          output=$(git diff)
+          if [ -n "$output" ]; then exit 1; else exit 0; fi

.github/workflows/code_quality.yml

@@ -0,0 +1,57 @@
+name: Code Quality
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/code_quality.yml'
+      - '.clang-tidy'
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  ci:
+    name: ${{ matrix.job_type }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: jammy
+            distro: humble
+            env:
+              TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
+
+    container:
+      image: ghcr.io/tesseract-robotics/tesseract_qt:${{ matrix.os }}-0.21
+      env:
+        CCACHE_DIR: "${{ github.workspace }}/${{ matrix.os }}/.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: |
+          curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+          apt update -qq
+          apt upgrade -y
+          apt install -y clang-tidy ros-${{ matrix.distro }}-ros-base
+
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@v5
+        with:
+          before-script: apt install ros-${{ matrix.distro }}-ros-base && source /opt/tesseract_qt/install/setup.bash && source /opt/ros/${{ matrix.distro }}/setup.bash
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: .github/workflows/dependencies.repos
+          run-tests: false
+          target-path: target_ws/src
+          target-args: --cmake-args ${{ matrix.env.TARGET_CMAKE_ARGS }}

.github/workflows/dependencies.repos

@@ -0,0 +1,5 @@
+repositories:
+  octomap_msgs:
+    type: git
+    url: https://github.com/OctoMap/octomap_msgs.git
+    version: 67be62db91510f3a10ac6c37b1013307c290631c