Add GitHub actions CI

.circleci/config.yml

@@ -18,7 +18,7 @@ jobs:
           name: Build with colcon
           command: |
             source /opt/ros/*/setup.bash
-            colcon build --symlink-install
+            MAKEFLAGS="-j2" colcon build --symlink-install  --parallel-workers 2 --event-handlers console_direct+
 workflows:
   version: 2
   build:

.github/check_style.sh

@@ -0,0 +1,81 @@
+#!/usr/bin/env bash
+
+# Given a set of commits current script checks the style based on clang_format
+# on the list of changed files that exist in the commits.
+#
+# Script should be called from a travis.yml file.
+
+# Functions
+######################
+
+# This is run by travis automatically from the root of the project
+
+set +e
+set +x
+
+DIRS_IN="modules"
+DIRS_OUT="demos docs modules/mp2p_icp/3rdparty"
+LANGS=cpp
+FORMAT_CODE_BIN="scripts/clang_git_format/format_code.py"
+
+function lint() {
+
+# Get list of changed files for lint to run on. Grep only .h, .cpp files and
+# mind the DIRS_IN, DIRS_OUT vars
+
+# Following command fails if you "git commit --amend" - Works correctly on
+# standard commits
+echo "commit_range: $TRAVIS_COMMIT_RANGE"
+changed_files=$(git diff --name-only $TRAVIS_COMMIT_RANGE)
+printf "Summary of changed files:\n\n${changed_files}\n\n"
+
+# include
+regexp_in=
+for i in $DIRS_IN; do
+  if [ -n "${regexp_in}" ]; then
+    regexp_in="${regexp_in}\|${i}"
+  else
+    regexp_in="${i}"
+  fi
+done
+
+# exclude
+regexp_out=
+for i in $DIRS_OUT; do
+  if [ -n "${regexp_out}" ]; then
+    regexp_out="${regexp_out}\|${i}"
+  else
+    regexp_out="${i}"
+  fi
+done
+
+echo "regexp_in: ${regexp_in}"
+echo "regexp_out: ${regexp_out}"
+
+valid_files=$(echo ${changed_files} \
+  | xargs -d' ' -n 1 \
+  | grep -i -e "${regexp_in}" \
+  | grep -v "${regexp_out}" \
+  | grep -ie ".*\.h$\|.*\.cpp")
+
+
+printf "Valid files for lint:\n\t${valid_files}\n"
+if [ -n "${valid_files}" ]; then
+  ${FORMAT_CODE_BIN} -g .  --lint_files ${valid_files}
+else
+  true
+fi
+exit $?
+
+}
+
+function lint_all() {
+
+${FORMAT_CODE_BIN} -g . --lang ${LANGS} \
+  -o ${DIRS_OUT} -i ${DIRS_IN} \
+  -l
+
+exit $?
+}
+
+lint_all

.github/python_clang_format_reqs.txt

@@ -0,0 +1,3 @@
+# Requisites for the clang-format linter script
+argparse
+colorlog

.github/workflows/build-ros.yml

@@ -0,0 +1,74 @@
+# Based on GTSAM file (by @ProfFan)
+name: CI Build colcon
+
+on: [push, pull_request]
+
+jobs:
+  test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
+    runs-on: ubuntu-latest
+    env:
+      DEBIAN_FRONTEND: noninteractive
+    strategy:
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        ros_distribution:
+          - noetic
+          - humble
+          - iron
+          - rolling
+
+        # Define the Docker image(s) associated with each ROS distribution.
+        # The include syntax allows additional variables to be defined, like
+        # docker_image in this case. See documentation:
+        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
+        #
+        # Platforms are defined in REP 3 and REP 2000:
+        # https://ros.org/reps/rep-0003.html
+        # https://ros.org/reps/rep-2000.html
+        include:
+          # Noetic Ninjemys (May 2020 - May 2025)
+          - docker_image: ubuntu:focal
+            ros_distribution: noetic
+            ros_version: 1
+
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            ros_version: 2
+
+          # Iron Irwini (May 2023 - November 2024)
+          - docker_image: ubuntu:jammy
+            ros_distribution: iron
+            ros_version: 2
+
+          # Rolling Ridley (No End-Of-Life)
+          - docker_image: ubuntu:jammy
+            ros_distribution: rolling
+            ros_version: 2
+
+    container:
+      image: ${{ matrix.docker_image }}
+
+    steps:
+      - name: Checkout
+        run: |
+          apt-get -y update
+          apt-get -y install git
+          git clone https://github.com/$GITHUB_REPOSITORY.git --recursive "$GITHUB_WORKSPACE"
+
+      - name: setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
+      - name: Install rosdep dependencies
+        run: |
+          rosdep update
+          rosdep install --from-paths . --ignore-src -r -y
+
+      - name: Build with colcon
+        run: |
+          . /opt/ros/*/setup.sh
+          env
+          MAKEFLAGS="-j2" colcon build --symlink-install --parallel-workers 2 --event-handlers console_direct+

.github/workflows/check-clang-format.yml

@@ -0,0 +1,40 @@
+name: CI clang-format
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          clang-format-check
+        ]
+
+        include:
+          - name: clang-format-check
+            os: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+
+      - name: Git submodule
+        run: |
+          git submodule sync
+          git submodule update --init --recursive
+
+      - name: Install Dependencies
+        run: |
+          sudo apt install clang-format-11 -yq
+          pip3 install --user -r .github/python_clang_format_reqs.txt
+
+      - name: Check code style
+        run: |
+          echo "TASK=lint_all" >> $GITHUB_ENV
+          bash .github/check_style.sh

README.md

@@ -1,4 +1,7 @@
-[![CircleCI](https://img.shields.io/circleci/build/gh/MOLAorg/mola/master.svg)](https://circleci.com/gh/MOLAorg/mola) [![Docs](https://img.shields.io/badge/docs-latest-brightgreen.svg)](https://docs.mola-slam.org/latest/)
+[![CI Check clang-format](https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MOLAorg/mola/actions/workflows/check-clang-format.yml)
+[![CI ROS](https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml/badge.svg)](https://github.com/MOLAorg/mola/actions/workflows/build-ros.yml)
+[![CircleCI](https://img.shields.io/circleci/build/gh/MOLAorg/mola/develop.svg)](https://circleci.com/gh/MOLAorg/mola)
+[![Docs](https://img.shields.io/badge/docs-latest-brightgreen.svg)](https://docs.mola-slam.org/latest/)
 
 
 # mola

scripts/clang_git_format/.gitignore

@@ -0,0 +1,40 @@
+# Compiled source #
+###################
+*.com
+*.class
+*.dll
+*.exe
+*.o
+*.so
+*.pyc
+
+# Packages #
+############
+# it's better to unpack these files and commit the raw source
+# git has its own built in compression methods
+*.7z
+*.dmg
+*.gz
+*.iso
+*.jar
+*.rar
+*.tar
+*.zip
+
+# Logs and databases #
+######################
+*.log
+*.sql
+*.sqlite
+
+# OS generated files #
+######################
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+
+build/