fixup benchmark

.github/workflows/benchmarking.yml

@@ -11,8 +11,30 @@ on:
 jobs:
   benchmark:
     runs-on: ubuntu-latest
+    container:
+      image: ubuntu:20.04
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/benchmark/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
+        with:
+          path: target_ws/src
+
+      - name: Install Depends
+        shell: bash
+        run: |
+          apt update
+          apt upgrade -y
+          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git liboctomap-dev
+          python3 -m pip install vcstool -q
+          python3 -m pip install colcon-common-extensions -q
+          python3 -m pip install rosdep -q
+          rosdep init
+          rosdep update
+          cd $GITHUB_WORKSPACE/target_ws/src
+          ./.github/workflows/add_ros_apt_sources.sh
 
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -29,26 +51,32 @@ jobs:
           restore-keys: |
             benchmark-ccache-
 
-      - uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env:
-          DOCKER_IMAGE: ubuntu:20.04
-          ROS_DISTRO: false
-          ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev'
-          AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
-          UPSTREAM_WORKSPACE: 'dependencies.repos'
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
-          CCACHE_DIR: "${{ github.workspace }}/benchmark/.ccache"
-          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=OFF -DTESSERACT_ENABLE_BENCHMARKING=ON -DTESSERACT_ENABLE_RUN_BENCHMARKING=ON -DBENCHMARK_ARGS=CI_ONLY"
-          DOCKER_RUN_OPTS: '-v ${{ github.workspace }}/benchmarks:/root/benchmarks'
-          AFTER_SCRIPT: '$target_ws/src/tesseract/.run_combine_benchmark_results'
+      - name: Build Upstream Workspace
+        shell: bash
+        run: |
+          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
+          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
+          cd $GITHUB_WORKSPACE/upstream_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
+          if [ $? -ge 1 ]; then return 1; fi
+
+      - name: Build Target Workspace And Run Benchmarks
+        shell: bash
+        run: |
+          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
+          cd $GITHUB_WORKSPACE/target_ws
+          rosdep install --from-paths src --ignore-src -r -y
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=OFF -DTESSERACT_ENABLE_BENCHMARKING=ON -DTESSERACT_ENABLE_RUN_BENCHMARKING=ON -DBENCHMARK_ARGS=CI_ONLY
+          if [ $? -ge 1 ]; then return 1; fi
+          ./src/.run_combine_benchmark_results
 
       - name: Store Bullet Discrete, FCL Discrete and Environment benchmark result
         uses: benchmark-action/github-action-benchmark@v1
         with:
           name: C++ Benchmark
           tool: 'googlecpp'
-          output-file-path: ${{ github.workspace }}/benchmarks/tesseract-benchmark_result.json
+          output-file-path: $GITHUB_WORKSPACE/target_ws/benchmarks/tesseract-benchmark_result.json
           benchmark-data-dir-path: tesseract/dev/bench
           gh-repository: github.com/tesseract-robotics/tesseract_docs
           github-token: ${{ secrets.GITHUB_TOKEN }}