bazelized_drake_ros.yml

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@v2
      - uses: actions/cache@v3
        with:
          path: "/home/runner/.cache/ci"
          key: bazel
      - name: Check cache
        run: du -hs $(readlink -f /home/runner/.cache/ci)
      - 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/setup-ros@v0.4
      - 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