[ci] Update github caching to be more similar to drake-blender #455
Workflow file for this run
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| name: Bazel Drake-ROS Continuous Integration | |
| on: | |
| push: | |
| branches: | |
| - main | |
| - develop | |
| pull_request: | |
| branches: | |
| - main | |
| - develop | |
| jobs: | |
| bazel_build_and_test: | |
| if: "! contains(github.event.pull_request.labels.*.name, 'status: defer ci')" | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| # Caching. See comments in drake-blender for more details: | |
| # https://github.com/RobotLocomotion/drake-blender/blob/c4a33f80/.github/workflows/main.yml | |
| - uses: actions/cache/restore@v3 | |
| with: | |
| path: "/home/runner/.cache/bazel_ci" | |
| # We want this key to change to ensure we store the updated cache. | |
| key: bazel_ci-${{ github.ref }}-${{ github.run_number }}-${{ github.run_attempt }} | |
| restore-keys: | | |
| bazel_ci-${{ github.ref }}- | |
| bazel_ci-refs/heads/main- | |
| - name: Check cache (before build) | |
| run: | | |
| du -hs $(readlink -f /home/runner/.cache/bazel_ci) || true | |
| df -h /home/runner/.cache/bazel_ci | |
| # Setup. | |
| - name: Simplify apt upgrades | |
| run: .github/simplify_apt_and_upgrades.sh | |
| - name: Configure drake_ros Bazel for CI | |
| run: ln -s ../.github/ci.bazelrc ./user.bazelrc | |
| working-directory: drake_ros | |
| - name: Install ROS tools (like rosdep) | |
| uses: ros-tooling/[email protected] | |
| - name: Update rosdep data | |
| run: rosdep update | |
| - name: Install bazel_ros2_rules dependencies | |
| # TODO(sloretz) make bazel_ros2_rules/setup/install_prereqs.sh | |
| run: sudo apt install python3 python3-toposort | |
| - name: Download Drake | |
| run: bazel build @drake//:module_py | |
| working-directory: drake_ros | |
| - name: Install Drake's dependencies | |
| run: yes | sudo ./bazel-drake_ros/external/drake/setup/ubuntu/install_prereqs.sh | |
| working-directory: drake_ros | |
| - name: Install ROS tarball's dependencies | |
| # TODO(sloretz) can't use rosdep here because we need the archive downloaded, | |
| # but can't download the archive with bazel until we have the dependencies installed | |
| # so bazel_ros2_rules can inspect it. | |
| run: sudo apt-get install -y libconsole-bridge-dev | |
| # CI for drake_ros. | |
| - name: Build drake_ros | |
| run: bazel build //... | |
| working-directory: drake_ros | |
| - name: Test drake_ros | |
| run: bazel test //... | |
| working-directory: drake_ros | |
| # CI for drake_ros_examples. | |
| - name: Install additional ROS dependencies for drake_ros_examples | |
| run: yes | sudo ./setup/install_prereqs.sh | |
| working-directory: drake_ros_examples | |
| - name: Configure drake_ros_examples Bazel for CI | |
| run: ln -s ../.github/ci.bazelrc ./user.bazelrc | |
| working-directory: drake_ros_examples | |
| - name: Build drake_ros_examples | |
| run: bazel build //... | |
| working-directory: drake_ros_examples | |
| - name: Test drake_ros_examples | |
| run: bazel test //... | |
| working-directory: drake_ros_examples | |
| - name: Check cache (after build) | |
| if: always() | |
| run: | | |
| du -hs $(readlink -f /home/runner/.cache/bazel_ci) || true | |
| df -h /home/runner/.cache/bazel_ci | |
| # Use separate save action with explicit `if: always()` to always save | |
| # cache, given that Bazel only caches artifacts related to successful | |
| # build / tests. | |
| - uses: actions/cache/save@v3 | |
| if: always() | |
| with: | |
| path: ~/.cache/bazel_ci | |
| key: bazel_ci-${{ github.ref }}-${{ github.run_number }}-${{ github.run_attempt }} |