Support Iron and transition Rolling to Noble

.github/workflows/asan.yaml

@@ -0,0 +1,18 @@
+name: asan
+on:
+  pull_request:
+  schedule:
+    - cron: '0 0 * * *'
+  workflow_dispatch:
+
+jobs:
+  build_and_test_asan:
+    name: test_ci_asan
+    uses: ./.github/workflows/reusable_asan.yaml
+    with:
+      # NOTE: Avoid adding comments in the packages lines, this can break some of the called scripts in github actions
+      # NOTE: Build upto rmf_fleet_adapter and rmf_visualization to cover all core open-rmf packages.
+      # # rmf_fleet_adapter_python causes spurious asan failures because of leaks in the Python side
+      packages: |
+        rmf_fleet_adapter
+        rmf_visualization

.github/workflows/build.yaml

@@ -7,10 +7,11 @@ on:
 
 jobs:
   build_and_test:
-    name: rmf_traffic_editor
+    name: test_ci
     uses: ./.github/workflows/reusable_build.yaml
     with:
       # NOTE: Avoid adding comments in the packages lines, this can break some of the called scripts in github actions
-      # NOTE: Using rmf_utils just for workflow testing porposes
+      # NOTE: Build upto rmf_fleet_adapter_python and rmf_visualization to cover all core open-rmf packages.
       packages: |
-        rmf_utils
+        rmf_fleet_adapter_python
+        rmf_visualization

.github/workflows/reusable_asan.yaml

@@ -11,75 +11,17 @@ on:
         required: false
         type: string
         default: |
-          [{"ros_distribution": "foxy",
-            "ubuntu_distribution": "focal"}]
-defaults:
-  run:
-    shell: bash
-concurrency:
-  group: ${{ github.head_ref || github.ref_name }}
-  cancel-in-progress: true
+          [{"ros_distribution": "humble",
+            "ubuntu_distribution": "jammy"},
+          {"ros_distribution": "iron",
+            "ubuntu_distribution": "jammy"},
+          {"ros_distribution": "rolling",
+            "ubuntu_distribution": "noble"}]
 jobs:
   asan:
-    strategy:
-      fail-fast: false
-      matrix:
-        include: ${{ fromJson(inputs.dist-matrix) }}
     name: asan
-    runs-on: ubuntu-20.04
-    container:
-      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-${{ matrix.ubuntu_distribution }}
-    steps:
-      - name: install_clang_and_tools
-        run: sudo apt update && sudo apt install -y clang clang-tools lld wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
-      # TODO: fix for cryptography>2.8 failing in galactic https://github.com/open-rmf/rmf/pull/202#pullrequestreview-1100045417
-      - name: fix cryptography==2.8 # https://github.com/open-rmf/rmf/pull/202#pullrequestreview-1100045417
-        run: pip3 install cryptography==2.8
-        if: ${{ matrix.ros_distribution == 'galactic' || matrix.ros_distribution == 'foxy' }}
-      # TODO: remove this when uncrustify 0.72 is fixed https://github.com/uncrustify/uncrustify/issues/3191
-      - name: hack for uncrustify 0.72 problems
-        run: wget http://mirrors.kernel.org/ubuntu/pool/universe/u/uncrustify/uncrustify_0.69.0+dfsg1-1build1_amd64.deb && dpkg -i uncrustify_0.69.0+dfsg1-1build1_amd64.deb && apt install -f -y
-        if: ${{ matrix.ubuntu_distribution == 'jammy'}}
-      # TODO: Remove this step when the incompatibility between libunwind14 and libundind dissapears https://github.com/open-rmf/rmf_traffic_editor/issues/439
-      - name: Horrible hack for libceres
-        run: |
-          apt-get remove -y --purge libc++-dev || true
-          apt-get remove -y --purge libc++abi-dev || true
-          apt-get remove -y --purge libunwind-14-dev || true
-          apt-get remove -y --purge libunwind-14-dev || true
-          apt-get remove -y --purge libunwind-dev || true
-          apt -y autoremove
-        if: ${{ matrix.ubuntu_distribution == 'jammy'}}
-      - name: create_blacklist
-        run: |
-          mkdir -p ${{ github.workspace }}/
-          touch ${{ github.workspace }}/blacklist.txt
-          echo "fun:*Eigen*" >  ${{ github.workspace }}/blacklist.txt
-      - name: asan_build_and_test
-        uses: ros-tooling/[email protected]
-        env:
-          LANG: en_US.UTF-8
-          CC: clang -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
-          CXX: clang++ -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
-          QT_QPA_PLATFORM: offscreen
-        with:
-          target-ros2-distro: ${{ matrix.ros_distribution }}
-          # build all packages listed in the meta package
-          package-name: ${{ inputs.packages }}
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/${{ matrix.ros_distribution }}/rmf.repos
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["asan-gcc", "lld"],
-                "cmake-args": ["-DCMAKE_BUILD_TYPE=Debug"],
-                "executor": "sequential"
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - name: upload_test_stream
-        uses: actions/upload-artifact@v2
-        with:
-          name: colcon-asan-logs
-          path: ${{ steps.build_and_test.outputs.ros-workspace-directory-name }}/log
-        if: always()
+    uses: ./.github/workflows/reusable_build.yaml
+    with:
+      dist-matrix: ${{inputs.dist-matrix}}
+      packages: ${{inputs.packages}}
+      mixin: asan

.github/workflows/reusable_build.yaml

@@ -17,8 +17,10 @@ on:
         default: |
           [{"ros_distribution": "humble",
             "ubuntu_distribution": "jammy"},
+          {"ros_distribution": "iron",
+            "ubuntu_distribution": "jammy"},
           {"ros_distribution": "rolling",
-            "ubuntu_distribution": "jammy"}]
+            "ubuntu_distribution": "noble"}]
 defaults:
   run:
     shell: bash
@@ -31,52 +33,49 @@ jobs:
       fail-fast: false
       matrix:
         include: ${{ fromJson(inputs.dist-matrix) }}
-
     name: Build and test
     runs-on: ubuntu-latest
     container:
       # TODO: check if "desktop" is really needed for the builds or tests
       image: osrf/ros:${{ matrix.ros_distribution }}-desktop-${{ matrix.ubuntu_distribution }}
     steps:
-      - name: install_clang_and_tools
-        run: sudo apt update && sudo apt install -y clang clang-tools lld wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
-      # TODO: Remove this step when the incompatibility between libunwind14 and libundind dissapears https://github.com/open-rmf/rmf_traffic_editor/issues/439
-      - name: Horrible hack for libceres
-        run: |
-          apt-get remove -y --purge libc++-dev || true
-          apt-get remove -y --purge libc++abi-dev || true
-          apt-get remove -y --purge libunwind-14-dev || true
-          apt-get remove -y --purge libunwind-14-dev || true
-          apt-get remove -y --purge libunwind-dev || true
-          apt -y autoremove
-        if: ${{ matrix.ubuntu_distribution == 'jammy'}}
       - name: create_blacklist
         run: |
           mkdir -p ${{ github.workspace }}/
           touch ${{ github.workspace }}/blacklist.txt
           if [[ ${{ inputs.mixin }} == "asan" ]]; then
             echo "fun:*Eigen*" >  ${{ github.workspace }}/blacklist.txt
           fi
+      - name: Setup ROS
+        uses: ros-tooling/[email protected]
+      - name: install_tools
+        run: sudo apt update && sudo apt install -y ccache clang clang-tools lld wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov ros-${{ matrix.ros_distribution }}-rmw-cyclonedds-cpp
       - name: set mixins
         id: set_mixins
         run: |
           case ${{ inputs.mixin }} in
             asan)
-                echo 'colcon_defaults={"build":{"mixin":["asan-gcc","lld"],"cmake-args":["-DCMAKE_BUILD_TYPE=Debug"],"executor":"sequential"}}' >> $GITHUB_OUTPUT
+                echo 'colcon_defaults={"build":{"mixin":["asan-gcc", "lld"]}}' >> $GITHUB_OUTPUT
                 ;;
             tsan)
-                echo 'colcon_defaults={"build":{"mixin":["tsan"],"cmake-args":["-DCMAKE_BUILD_TYPE=Debug"]}}' >> $GITHUB_OUTPUT
+                echo 'colcon_defaults={"build":{"mixin":["tsan", "lld"]}}' >> $GITHUB_OUTPUT
                 ;;
             *)
-                echo 'colcon_defaults={"build": {"mixin": ["coverage-gcc", "lld" ]}}' >> $GITHUB_OUTPUT
+                echo 'colcon_defaults={"build": {"mixin": ["ccache", "coverage-gcc", "lld"]}}' >> $GITHUB_OUTPUT
                 ;;
           esac
+      - uses: actions/cache@v3
+        with:
+          path: ~/.cache/ccache
+          key: ccache
       - name: build_and_test
         uses: ros-tooling/[email protected]
         env:
           LANG: en_US.UTF-8
           CC: clang -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
           CXX: clang++ -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
+          # Fastdds causes spurious failures in asan action, default to cyclonedds
+          RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
           QT_QPA_PLATFORM: offscreen
           # We have some new_delete_type_mismatch errors that looks like to come from rclcpp
           ASAN_OPTIONS: detect_leaks=0:new_delete_type_mismatch=0