ci: debug lidar_centerpoint ci failure

.github/workflows/build-and-test-differential.yaml

@@ -74,13 +74,23 @@
         run: du -sh ${CCACHE_DIR} && ccache -s
         shell: bash
 
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+        shell: bash
+
       - name: Build
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v-test-new-cache-keys
         with:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
 
       - name: Show ccache stats after build
         run: du -sh ${CCACHE_DIR} && ccache -s
@@ -89,7 +99,7 @@
       - name: Test
         id: test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v-test-new-cache-keys
         with:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
@@ -106,3 +116,47 @@
 
       - name: Show disk space after the tasks
         run: df -h
+
+  clang-tidy-differential:
+    needs: build-and-test-differential
+    runs-on: ubuntu-latest
+    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
+    steps:
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show disk space before the tasks
+        run: df -h
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get modified files
+        id: get-modified-files
+        run: |
+          echo "changed_files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | tr '\n' ' ' || true)" >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-files.outputs.changed_files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v-test-new-cache-keys
+        with:
+          rosdistro: humble
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.changed_files }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+          build-depends-repos: build_depends.repos
+          cache-key-element: cuda
+
+      - name: Show disk space after the tasks
+        run: df -h

perception/lidar_centerpoint/CMakeLists.txt

@@ -70,6 +70,8 @@ else()
 endif()
 
 if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
+  message("Building stuff for lidar_centerpoint")
+
   find_package(ament_cmake_auto REQUIRED)
   ament_auto_find_build_dependencies()
 
@@ -149,6 +151,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
   )
 
   if(BUILD_TESTING)
+    message("Building tests for lidar_centerpoint")
     find_package(ament_cmake_gtest REQUIRED)
     ament_auto_add_gtest(test_detection_class_remapper
       test/test_detection_class_remapper.cpp

perception/lidar_centerpoint/src/node.cpp

@@ -34,6 +34,8 @@
 #include "lidar_centerpoint/ros_utils.hpp"
 #include "lidar_centerpoint/utils.hpp"
 
+// TODO(mfc): remove this comment line before merging.
+
 namespace centerpoint
 {
 LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_options)