Thread and Address Sanitizer CI

Signed-off-by: Tyler Weaver <[email protected]>

Author: tylerjw

.github/workflows/ci.yaml

@@ -0,0 +1,30 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - ros2
+
+jobs:
+  ci:
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - TARGET_CMAKE_ARGS: -DENABLE_SANITIZER_ADDRESS=ON -DCMAKE_BUILD_TYPE=Debug
+            NAME: Address Sanitizer
+          - TARGET_CMAKE_ARGS: -DENABLE_SANITIZER_THREAD=ON -DCMAKE_BUILD_TYPE=Debug
+            NAME: Thread Sanitizer
+    env:
+      ROS_DISTRO: rolling
+    runs-on: ubuntu-latest
+    name: ${{ matrix.env.NAME }}
+    steps:
+      - uses: actions/checkout@v2
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}

CMakeLists.txt

@@ -10,6 +10,21 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+option(ENABLE_SANITIZER_ADDRESS "Enable address sanitizer" OFF)
+if(ENABLE_SANITIZER_ADDRESS)
+  add_compile_options(-fsanitize=address)
+  add_link_options(-fsanitize=address)
+endif()
+
+option(ENABLE_SANITIZER_THREAD "Enable thread sanitizer" OFF)
+if(ENABLE_SANITIZER_THREAD)
+  if(ENABLE_SANITIZER_ADDRESS)
+    message(WARNING "Thread sanitizer does not work with Address sanitizer enabled")
+  endif()
+  add_compile_options(-fsanitize=thread)
+  add_link_options(-fsanitize=thread)
+endif()
+
 set(CLASS_LOADER_IGNORE_AMENT FALSE CACHE BOOL
   "Do not use ament when building this package.")
 if(NOT CLASS_LOADER_IGNORE_AMENT)