AMRService: Initial version of AMR service #1
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| name: Build Test with SDK | |
| on: [push, pull_request] | |
| env: | |
| PERSIST_DIR: /srv/gh-runners/quic-qrb-ros | |
| DL_DIR: /srv/gh-runners/quic-qrb-ros/downloads | |
| WORKSPACE: ${{ github.workspace }}/ros_ws | |
| SDK_DIR: ${{ github.workspace }}/sdk | |
| jobs: | |
| build: | |
| runs-on: [self-hosted, x86] | |
| timeout-minutes: 720 | |
| steps: | |
| - name: Set up SDK | |
| run: | | |
| set -x | |
| if [ -e ${PERSIST_DIR} ] && [ -r ${PERSIST_DIR} ] && [ -x ${PERSIST_DIR} ];then | |
| echo "Setting up SDK..." | |
| umask 022 | |
| ${PERSIST_DIR}/sdk/qcom-robotics-ros2-humble-x86_64-qcom-robotics-full-image-armv8-2a-qcs6490-rb3gen2-vision-kit-toolchain-1.0.sh <<EOF | |
| ${SDK_DIR} | |
| Y | |
| EOF | |
| else | |
| echo "Downloading SDK from CLO..." | |
| wget -q https://artifacts.codelinaro.org/artifactory/qli-ci/flashable-binaries/qirpsdk/qcs6490-rb3gen2-vision-kit/x86/qcom-6.6.38-QLI.1.2-Ver.1.1_robotics-product-sdk-1.1.zip | |
| if [ $? != 0 ];then | |
| Download SDK failed!!!. Exit!. | |
| exit 2 | |
| fi | |
| unzip qcom-6.6.38-QLI.1.2-Ver.1.1_robotics-product-sdk-1.1.zip | |
| echo "Setting up SDK..." | |
| umask 022 | |
| ./target/qcs6490-rb3gen2-vision-kit/sdk/qcom-robotics-ros2-humble-x86_64-qcom-robotics-full-image-armv8-2a-qcs6490-rb3gen2-vision-kit-toolchain-1.0.sh <<EOF | |
| ${SDK_DIR} | |
| Y | |
| EOF | |
| fi | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| path: ${{ github.workspace }}/ros_ws/${{ github.event.repository.name }} | |
| - name: Download dependencies | |
| run: | | |
| cd ${WORKSPACE} | |
| git clone https://github.com/quic-qrb-ros/qrb_ros_interfaces.git | |
| - name: build | |
| run: | | |
| cd ${SDK_DIR} | |
| umask 022 | |
| . environment-setup-armv8-2a-qcom-linux | |
| cd ${WORKSPACE} | |
| export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr" | |
| export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages | |
| export Python3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include | |
| colcon build --merge-install --cmake-args \ | |
| -DPython3_NumPy_INCLUDE_DIR=${Python3_NumPy_INCLUDE_DIR} \ | |
| -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu \ | |
| -DCMAKE_STAGING_PREFIX=$(pwd)/install \ | |
| -DCMAKE_PREFIX_PATH=$(pwd)/install/share \ | |
| -DBUILD_TESTING=OFF | |
| - name: Publish artifacts | |
| run: | | |
| build_dir=${PERSIST_DIR}/builds/${GITHUB_RUN_ID} | |
| mkdir -p $build_dir | |
| tar -cvf ${build_dir}/artifacts.tar ${WORKSPACE}/install ${WORKSPACE}/build ${WORKSPACE}/log | |
| # Instruct our file server to make these files available for download | |
| url="https://quic-qrt-ros-fileserver-1029608027416.us-central1.run.app/${GITHUB_RUN_ID}/" | |
| retries=3 | |
| for ((i=0; i<retries; i++)); do | |
| curl -X POST -v ${url} && break | |
| echo "something went wrong, sleep and retry" | |
| sleep 2 | |
| done | |
| (( retries == i )) && { echo 'Failed to publish artifacts'; exit 1; } | |
| echo Artifacts available at: ${url} |