DART CI/CD Troubleshooting
Load this skill when debugging CI failures or working with GitHub Actions.
Quick Commands
# Monitor PR checks
gh pr checks <PR_NUMBER>
gh pr checks <PR_NUMBER> --watch --interval 30 --fail-fast
# View run details
gh run list --branch <BRANCH> -e pull_request -L 20
gh run watch <RUN_ID> --interval 30
gh run view <RUN_ID> --json status,conclusion,url
# Debug failures
gh run view <RUN_ID> --job <JOB_ID> --log-failed
gh run view <RUN_ID> --json jobs --jq '.jobs[] | {name, databaseId}'
# Rerun failed jobs
gh run rerun <RUN_ID> --failed
gh run rerun <RUN_ID> --job <DATABASE_ID>
Full Documentation
For complete CI/CD guide: docs/onboarding/ci-cd.md
Common Failure Modes
| Failure Type | Solution |
|---|
| Formatting fails | pixi run lint then push |
| Codecov patch fails | Add tests for uncovered lines |
| FreeBSD RTTI fails | Use type enums + static_cast instead of dynamic_cast |
| macOS ARM64 SEGFAULT | Replace alloca()/VLAs with std::vector<T> |
| RTD build fails | Use defensive .get(key, default) patterns |
| gz-physics fails | Reproduce with pixi run -e gazebo test-gz |
Workflow Architecture
| Workflow | Purpose | Platforms |
|---|
ci_lint.yml | Formatting | Ubuntu |
ci_ubuntu.yml | Build + test + coverage | Ubuntu |
ci_macos.yml | Build + test | macOS |
ci_windows.yml | Build + test | Windows |
ci_freebsd.yml | Build + test (VM) | FreeBSD |
ci_gz_physics.yml | Gazebo integration | Ubuntu |
Fast Iteration Loop
- Identify failing step from job logs
- Reproduce locally with same build toggles
- Fix the smallest failing test
- Push and monitor:
gh run watch <RUN_ID>
Caching
- sccache/ccache reduces build time 50-70%
- Check cache hit rates in workflow logs
- Force cache bust by changing cache key if needed
Expected CI Times
| Platform | Cached | Uncached |
|---|
| Ubuntu | 20-30 min | 45-60 min |
| macOS | 15-25 min | 30-45 min |
| Windows | 15-20 min | 25-35 min |
