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.gitlab-ci.yml
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.gitlab-ci.yml
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##############################
# Artifacts default values #
##############################
#Folders to be saved after the build
.artifacts_files:
paths: &artifacts_files_definition
- ros2_ws/install
#Folders to be saved after the tests
.test_artifacts_files:
paths: &test_artifacts_files_definition
#- lib/test/bin/data/current/*
- ros2/test/bin/data/current/*
#XML files to be used for Gitlab test report interface
.test_artifacts_report_files:
reports: &test_artifacts_report_files_definition
#junit: lib/test/bin/output/*/*_test_*.xml
junit: ros2/test/bin/output/*/*_test_*.xml
.linux_artifacts:
name: &linux_artifacts_naming_definition "${CI_PROJECT_NAMESPACE}_${CI_PROJECT_NAME}_${CI_JOB_NAME}_${CI_COMMIT_REF_NAME}"
#Artifacts configuration
.artifacts_config:
expire_in: &artifacts_expire_in_definition 2 weeks
############
# Stages #
############
stages:
- build
- unit_test
- deploy
- deploy_docker
variables:
#GIT_SUBMODULE_STRATEGY: normal
GIT_SUBMODULE_STRATEGY: recursive
#GIT_CLONE_PATH: $CI_BUILDS_DIR/ros2_ws/src/$CI_PROJECT_NAME # must be enabled in the configuration of the runners!
######################
# BUILDER selection #
######################
.linux_docker_builder_target:
tags: &linux_docker_builder_target_definition
- docker-builder
- linux
# deploy-support is actually linux + docker (but for weaker builder)
.deploy_target:
tags: &deploy_target_definition
- deploy-support
.linux_docker_builder_qemu_target:
tags: &linux_docker_builder_qemu_target_definition
- docker-builder
- linux
- qemu-support
.linux_docker_builder_native_target:
tags: &linux_docker_builder_native_target_definition
- jetson
- L4T35.1
######################
# Runner selection #
######################
# generic
.runner_linux_jetson_l4t35_1_target:
tags: &runner_linux_jetson_l4t35_1_target_definition
- linux
- jetson
- L4T35.1
.runner_linux_jetson_l4t32_7_target:
tags: &runner_linux_jetson_l4t32_7_target_definition
- linux
- jetson
- L4T32.7
.runner_linux_jetson_nano_l4t32_7_target:
tags: &runner_linux_jetson_nano_l4t32_7_target_definition
- linux
- jetson
- nano
- perfTest
- L4T32.7
.runner_linux_jetson_tx2_nx_l4t32_7_target:
tags: &runner_linux_jetson_tx2_nx_l4t32_7_target_definition
- linux
- jetson
- tx2_nx
- perfTest
- L4T32.7
.runner_linux_jetson_xavier_nx_l4t35_1_target:
tags: &runner_linux_jetson_xavier_nx_l4t35_1_target_definition
- linux
- jetson
- xavier_nx
- perfTest
- L4T35.1
.runner_linux_jetson_xavier_agx_l4t35_1_target:
tags: &runner_linux_jetson_xavier_agx_l4t35_1_target_definition
- linux
- jetson
- xavier
- perfTest
- L4T35.1
.runner_linux_jetson_orin_agx_l4t35_1_target:
tags: &runner_linux_jetson_orin_agx_l4t35_1_target_definition
- linux
- jetson
- orin
- perfTest
- L4T35.1
.runner_linux_jetson_live_l4t32_7_target:
tags: &runner_linux_jetson_live_l4t32_7_target_definition
- linux
- jetson
- live-runner
- L4T32.7
.runner_ubuntu18_desktop_live_cuda11_0_target:
tags: &runner_ubuntu18_desktop_live_cuda11_0_target_definition
- ubuntu18
- x86_64
- perfTest
- CUDA11
- live-runner
.runner_ubuntu18_desktop_cuda11_0_target:
tags: &runner_ubuntu18_desktop_cuda11_0_target_definition
- ubuntu18
- x86_64
- perfTest
- CUDA11
.runner_ubuntu_docker_desktop_target:
tags: &runner_ubuntu_docker_desktop_target_definition
- x86_64
- docker-runner
- linux
.runner_ubuntu_docker_live_desktop_target:
tags: &runner_ubuntu_docker_live_desktop_target_definition
- x86_64
- docker-runner
- linux
- live-runner
- deploy-support
## Memory target
.memory_ubuntu18_desktop_cuda11_0_target:
tags: &memory_ubuntu18_desktop_cuda11_0_target_definition
- ubuntu18
- x86_64
- memTest
- CUDA11
######################
# Build script #
######################
.build_script_linux_humble:
script: &humble_linux_build_script_definition
- sudo chmod +x .ci/run_build_in_humble.sh
- ./.ci/run_build_in_humble.sh
#################
# Build Tasks #
#################
humble_u22_cu117_build:
stage: build
#image: stereolabs/ci-compiler:ubuntu22.04-cuda11.7-tensorrt8.4.2-ros2-humble
image: myzhar/test:ubuntu22.04-cuda11.7-tensorrt8.4.2-ros2-humble
tags: *linux_docker_builder_target_definition
script: *humble_linux_build_script_definition
artifacts:
name: *linux_artifacts_naming_definition
paths: *artifacts_files_definition
expire_in: *artifacts_expire_in_definition
when: on_success
humble_l4t35_1_build:
stage: build
image: dustynv/ros:humble-ros-base-l4t-r35.1.0
# Consider using qemu in the future
tags: *linux_docker_builder_qemu_target_definition
#tags: *linux_docker_builder_native_target_definition
script: *humble_linux_build_script_definition
artifacts:
name: *linux_artifacts_naming_definition
paths: *artifacts_files_definition
expire_in: *artifacts_expire_in_definition
when: on_success
######################
# Test script #
######################
.setup_docker_sdk_before_script_linux:
before_script: &linux_docker_install_sdk_before_script_definition
- echo "Europe/Paris" > /etc/localtime
- mv ZED_SDK_*.run ZED_SDK_Linux.run
- apt update || true ; apt install -y lsb-release wget less udev sudo build-essential cmake python3 python3-dev zstd python3-pip python3-wheel git binutils-dev jq libusb-1* libopencv-dev
- chmod +x ZED_SDK_Linux.run ; ./ZED_SDK_Linux.run -- silent
- ln -sf /usr/bin/python3 /usr/bin/python
- python -m pip install wheel setuptools #scikit-build
#- python -m pip install opencv-python-headless
# Replace libs by debug info ones
#- mv lib/build/libsl_ai_dbginfo.so /usr/local/zed/lib/libsl_ai.so
#- mv lib/build/libsl_zed_dbginfo.so /usr/local/zed/lib/libsl_zed.so
.setup_sdk_before_script_linux:
before_script: &linux_install_sdk_before_script_definition
- ls lib/build/*
- mv ZED_SDK_*.run ZED_SDK_Linux.run
- sudo apt update || true ; sudo apt install -y binutils-dev zstd jq git cmake
- chmod +x ZED_SDK_Linux.run ; ./ZED_SDK_Linux.run -- silent
# Replace libs by debug info ones
#- mv lib/build/libsl_ai_dbginfo.so /usr/local/zed/lib/libsl_ai.so
#- mv lib/build/libsl_zed_dbginfo.so /usr/local/zed/lib/libsl_zed.so
.setup_sdk_u22_cu117_web_before_script:
before_script: &setup_sdk_u22_cu117_web_before_script_definition
- sudo chmod +x .ci/download_and_install_sdk.sh
- ./.ci/download_and_install_sdk.sh 22 11 7 3 8
# clean previous artifacts
- rm -rf ../ros2_ws
# create new ROS2 workspace folders
- mkdir -p ../ros2_ws/install
# move new artifacts in the workspace folder
- cp -a ./ros2_ws/install ../ros2_ws/
- rm -rf ./ros2_ws/
.test_script_linux:
script: &linux_test_script_definition
- sudo chmod +x .ci/run_tests.sh
- ./.ci/run_tests.sh
###################
# Unit Test tasks #
###################
unit_test_ros2_humble_u22_cu117:
stage: unit_test
#image: stereolabs/ci-runner:ubuntu22.04-cuda11.7-ros2-humble
image: myzhar/test:ubuntu22.04-cuda11.7-ros2-humble-v1.1
tags: *runner_ubuntu_docker_live_desktop_target_definition
before_script: *setup_sdk_u22_cu117_web_before_script_definition
script: *linux_test_script_definition
#artifacts:
# when: always
# name: *linux_artifacts_naming_definition
# paths: *test_artifacts_files_definition
# expire_in: *artifacts_expire_in_definition
# reports: *test_artifacts_report_files_definition
needs:
- job: humble_u22_cu117_build
artifacts: true
when: manual
#####################
# Docker Deploy #
#####################
# ROS2 Humble U22 Docker Image DEVEL - use the current branch source to build the wrapper
ros2_humble_u22_docker_image_dev:
needs:
- job: humble_u22_cu117_build
stage: deploy_docker
image: docker
services:
- docker:dind
script:
- docker login -u $CI_REGISTRY_USER_WALT -p $CI_REGISTRY_PASSWORD_WALT
- cd docker
- IMG_TAG=${CI_PROJECT_NAME}_u22_cuda121_humble_${CI_COMMIT_BRANCH}
- ./desktop_build_dockerfile_from_sdk_ubuntu_and_cuda_version.sh ubuntu22.04 cuda12.1.0 zedsdk4.1.2
- docker tag zed_ros2_desktop_image "myzhar/zed-ros2-devel:${IMG_TAG}"
- docker push myzhar/zed-ros2-devel:${IMG_TAG}
when: on_success
tags: *linux_docker_builder_target_definition
except:
- master
allow_failure: true
# ROS2 Humble L4T Docker Image DEVEL - use the current branch source to build the wrapper
ros2_humble_l4t_docker_image_dev:
needs:
- job: humble_l4t35_1_build
stage: deploy_docker
image: docker
services:
- docker:dind
script:
- docker login -u $CI_REGISTRY_USER_WALT -p $CI_REGISTRY_PASSWORD_WALT
- cd docker
- IMG_TAG=${CI_PROJECT_NAME}_l4t35_4_humble_${CI_COMMIT_BRANCH}
- ./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r35.4.1 zedsdk4.1.2
- docker tag zed_ros2_l4t_image "myzhar/zed-ros2-devel:${IMG_TAG}"
- docker push myzhar/zed-ros2-devel:${IMG_TAG}
- rm -r ./tmp_sources
when: on_success
tags: *linux_docker_builder_qemu_target_definition
except:
- master
allow_failure: true
#################
# GitHub Deploy #
#################
# Update Github master branch
github_push:
needs:
- job: humble_u22_cu117_build
artifacts: false
- job: humble_l4t35_1_build
artifacts: false
stage: deploy
image: alpine
script:
- apk add --no-cache bash git
- git config --global user.email "[email protected]"
- git config --global user.name "Stereolabs"
- git clone http://wlucetti:${GITLAB_PULL_TOKEN}@192.168.1.93/sl/zed-ros2-wrapper.git
- cd zed-ros2-wrapper
- git remote set-url origin https://${GITHUB_PUSH_TOKEN}@github.com/stereolabs/zed-ros2-wrapper.git
- git remote -v
- git config pull.rebase false
- git pull origin master --allow-unrelated-histories
- git push https://${GITHUB_PUSH_TOKEN}@github.com/stereolabs/zed-ros2-wrapper.git
when: on_success
tags:
- docker-builder
- linux
only:
- master
allow_failure: true