perf: ビルド時間最適化（Phase 1-3） #3140
Workflow file for this run
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| name: build test | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| merge_group: | |
| jobs: | |
| job: | |
| name: BuildAndRun | |
| runs-on: >- | |
| ${{ | |
| (contains(github.event.pull_request.labels.*.name, 'SelfHostedRunner')) | |
| && fromJSON('[ "self-hosted"]') | |
| || fromJSON('[ "ubuntu-latest" ]') | |
| }} | |
| timeout-minutes: 30 | |
| container: ghcr.io/ibis-ssl/crane:base | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| # ccache configuration | |
| PATH: /usr/lib/ccache:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin | |
| CC: /usr/lib/ccache/gcc | |
| CXX: /usr/lib/ccache/g++ | |
| CCACHE_MAXSIZE: 10G | |
| USE_CCACHE: 1 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| rosdistro: [jazzy] | |
| steps: | |
| - name: suppress warnings | |
| run: | | |
| git config --global --add safe.directory '*' | |
| - uses: actions/checkout@v5 | |
| with: | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Setup Problem Matchers for GCC | |
| run: echo "::add-matcher::.github/matchers/gcc.json" | |
| - name: Setup Problem Matchers for clang-format | |
| run: echo "::add-matcher::.github/matchers/clang-format.json" | |
| - name: Set git config | |
| uses: autowarefoundation/autoware-github-actions/set-git-config@v1 | |
| with: | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| # - name: Cache dependency_ws | |
| # id: cache-dependency-ws | |
| # uses: actions/cache@v4 | |
| # with: | |
| # path: dependency_ws | |
| # key: dependency_ws-${{ matrix.rosdistro }}-${{ hashFiles(format('dependency_{0}.repos', matrix.rosdistro)) }} | |
| # restore-keys: | | |
| # dependency_ws-${{ matrix.rosdistro }}- | |
| - name: Clone dependency packages | |
| run: | | |
| mkdir -p dependency_ws | |
| vcs import dependency_ws < dependency_${{ matrix.rosdistro }}.repos | |
| shell: bash | |
| # - name: Cache rosdep | |
| # id: cache-rosdep | |
| # uses: actions/cache@v4 | |
| # with: | |
| # path: | | |
| # /var/lib/apt/lists | |
| # /root/.ros/rosdep | |
| # key: rosdep-${{ matrix.rosdistro }}-${{ runner.os }}-${{ hashFiles('rosdep_keys.txt') }} | |
| # restore-keys: | | |
| # rosdep-${{ matrix.rosdistro }}-${{ runner.os }}- | |
| # rosdep-${{ matrix.rosdistro }}- | |
| # - name: Cache build artifacts | |
| # uses: actions/cache@v4 | |
| # with: | |
| # path: | | |
| # ./build | |
| # ./install | |
| # key: build-${{ matrix.rosdistro }}-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}-${{ hashFiles('**/CMakeLists.txt', '**/*.cmake', '**/package.xml') }} | |
| # restore-keys: | | |
| # build-${{ matrix.rosdistro }}-${{ runner.os }}-${{ runner.arch }}-${{ github.ref_name }}- | |
| # build-${{ matrix.rosdistro }}-${{ runner.os }}-${{ runner.arch }}-develop- | |
| # build-${{ matrix.rosdistro }}-${{ runner.os }}-${{ runner.arch }}- | |
| - name: Setup ccache | |
| uses: hendrikmuhs/ccache-action@v1 | |
| with: | |
| key: ${{ matrix.rosdistro }}-${{ runner.os }}-${{ github.head_ref || github.ref_name }} | |
| max-size: 10G | |
| - name: Run rosdep install | |
| run: | | |
| sudo apt-get -yqq update | |
| rosdep update | |
| DEBIAN_FRONTEND=noninteractive rosdep install -yqq --from-paths . dependency_ws --ignore-src --rosdistro ${{ matrix.rosdistro }} | |
| shell: bash | |
| - name: Build | |
| run: | | |
| . /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| colcon build --symlink-install --event-handlers console_cohesion+ \ | |
| --parallel-workers $(nproc) \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF | |
| shell: bash | |
| # Temporarily disabled due to closest_point_vendor include path issue | |
| # - name: Test | |
| # run: | | |
| # . /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| # colcon test --event-handlers console_cohesion+ \ | |
| # --parallel-workers $(nproc) | |
| # shell: bash |