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Fix Servo pose tracking tutorial #2571

Fix Servo pose tracking tutorial

Fix Servo pose tracking tutorial #2571

Workflow file for this run

name: Website
on:
workflow_dispatch:
pull_request:
push:
branches:
- main
- humble
permissions:
contents: read
pages: write
id-token: write
jobs:
htmlproofer:
runs-on: ubuntu-latest
container:
image: moveit/moveit2:rolling-source
steps:
- uses: actions/checkout@v4
- name: Install Python dependencies
shell: bash
run: |
sudo apt-get update -y
sudo apt-get install -y python3-pip python3-venv
python3 -m venv .venv
source .venv/bin/activate
pip3 install --upgrade --requirement requirements.txt
- name: Install doxygen and graphviz
run: sudo apt-get install -y doxygen graphviz
- uses: ruby/setup-ruby@v1
with:
ruby-version: '3'
- name: Run htmlproofer.sh
shell: bash
run: |
source /opt/ros/rolling/setup.bash
source /root/ws_moveit/install/setup.bash
source .venv/bin/activate
./htmlproofer.sh
upload_site_artifacts:
strategy:
matrix:
include:
- container: 'moveit/moveit2:rolling-source'
branch: 'main'
rosdistro: 'rolling'
- container: 'moveit/moveit2:humble-source'
branch: 'humble'
rosdistro: 'humble'
runs-on: ubuntu-latest
container:
image: ${{ matrix.container }}
steps:
- uses: actions/checkout@v4
- name: Install Python dependencies
shell: bash
run: |
sudo apt-get update -y
sudo apt-get install -y python3-pip python3-venv
python3 -m venv .venv
source .venv/bin/activate
pip3 install --upgrade --requirement requirements.txt
- name: Install doxygen and graphviz
run: sudo apt-get install -y doxygen graphviz
- name: Build Sphinx Artifacts
shell: bash
run: |
source /opt/ros/${{ matrix.rosdistro }}/setup.bash
source /root/ws_moveit/install/setup.bash
source .venv/bin/activate
make generate_api_artifacts BRANCH=${{ matrix.branch }}
- name: Compress Artifact
run: tar cvzf artifact.tar.gz --directory=build/html .
- name: Upload HTML Artifact
uses: actions/upload-artifact@v4
with:
name: '${{ matrix.branch }}_html_artifacts'
path: artifact.tar.gz
collate_site_artifacts:
runs-on: ubuntu-latest
needs: upload_site_artifacts
steps:
- uses: actions/checkout@v4
with:
fetch-depth: 0
- uses: actions/setup-python@v5
with:
python-version: '3.10'
cache: 'pip'
- name: Install Python dependencies
run: |
python -m pip install --upgrade pip
pip install --upgrade --requirement requirements.txt
- name: Install doxygen and graphviz
run: sudo apt-get install -y doxygen graphviz
- uses: ruby/setup-ruby@v1
with:
ruby-version: '3'
# TODO (peterdavidfagan): don't hardcode branches for downloads
- name: Download Rolling Artifacts
uses: actions/download-artifact@v4
with:
name: main_html_artifacts
path: .
- name: Decompress Rolling Artifact
run: |
mkdir -p build/html/main
tar -xf artifact.tar.gz --directory=build/html/main
rm artifact.tar.gz
- name: Download Humble Artifacts
uses: actions/download-artifact@v4
with:
name: humble_html_artifacts
path: .
- name: Decompress Humble Artifact
run: |
mkdir -p build/html/humble
tar -xf artifact.tar.gz --directory=build/html/humble
rm artifact.tar.gz
- name: Create CNAME file
run: echo "moveit.picknik.ai" > build/html/CNAME
# TODO(henningkayser): fix hack for using python api artifact in multiversion
- name: Build multiversion
run: |
cp -r build/html/main/doc/api/python_api/ . # backup artifact html
make multiversion
cp -rf python_api/ build/html/main/doc/api/ # restore artifact html
- name: Upload pages artifact
uses: actions/upload-pages-artifact@v3
if: github.repository_owner == 'moveit'
with:
path: build/html
deploy:
if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/main'
runs-on: ubuntu-latest
needs: collate_site_artifacts
environment:
name: github-pages
url: ${{ steps.deployment.outputs.page_url }}
steps:
- name: Deploy to GitHub Pages
id: deployment
uses: actions/deploy-pages@v4