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[doc] Add documentation for running drake-external-examples CI jobs on Drake PRs #22721

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[doc] Add documentation for running drake-external-examples CI jobs on Drake PRs #22721

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beb62ca
add documentation for running external-examples jobs via pull requests
tyler-yankee Mar 7, 2025
103bad3
update dead links in downstream_testing
tyler-yankee Mar 7, 2025
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2 changes: 1 addition & 1 deletion doc/_pages/developers.md
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Expand Up @@ -237,7 +237,7 @@ can look into the question.
# Continuous Integration Notes

* [CDash](https://drake-cdash.csail.mit.edu/index.php?project=Drake)
* [GitHub PR Interaction with Jenkins](/jenkins.html)
* [Continuous Integration with GitHub Pull Requests](/jenkins.html)
* [Build Cop](/buildcop.html)

# Programming Tools
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15 changes: 9 additions & 6 deletions doc/_pages/downstream_testing.md
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# Local Testing

For CMake, see the
[drake_cmake_installed](https://github.com/RobotLocomotion/drake-external-examples/tree/master/drake_cmake_installed#developer-testing)
[drake_cmake_installed](https://github.com/RobotLocomotion/drake-external-examples/tree/main/drake_cmake_installed#developer-testing)
example.

For Bazel, see the
[drake_bazel_external](https://github.com/RobotLocomotion/drake-external-examples/tree/master/drake_bazel_external)
example, and note the comment in
[WORKSPACE](https://github.com/RobotLocomotion/drake-external-examples/blob/master/drake_bazel_external/WORKSPACE)
which mentions using something like
[local_repository](https://docs.bazel.build/versions/master/be/workspace.html#local_repository) to consume a local checkout of Drake.
[drake_bazel_external](https://github.com/RobotLocomotion/drake-external-examples/tree/main/drake_bazel_external)
example, and note the comments in:

* the [README](https://github.com/RobotLocomotion/drake-external-examples/blob/main/drake_bazel_external#using-a-local-checkout-of-Drake),
which mentions using
[`--override-module`](https://bazel.build/reference/command-line-reference#flag--override_module) to consume a local checkout of Drake
* [`MODULE.bazel`](https://github.com/RobotLocomotion/drake-external-examples/blob/main/drake_bazel_external/MODULE.bazel),
which can be modified to use a particular revision (commit or release) of Drake
45 changes: 44 additions & 1 deletion doc/_pages/jenkins.md
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---
title: GitHub PR Interaction with Jenkins
title: Continuous Integration with GitHub Pull Requests
---

When a new pull request is opened in the project and the author of the pull
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env/bin/pip install <url-of-experimental-wheel>
source env/bin/activate
```

# Testing via External Examples

The examples within Drake's
[gallery of external examples](https://github.com/RobotLocomotion/drake-external-examples)
provide continuous integration via both Jenkins and GitHub Actions. This provides
downstream test coverage for Drake developers to ensure reliability in the
build infrastructure. Additionally, the GitHub Actions provide a bonus benefit
for end users, in that examples of lightweight, open-source builds using Drake
on public CI servers are made easily accessible.

When a new pull request is opened in Drake, members of the RobotLocomotion
organization can utilize Jenkins and GitHub Actions to run custom builds.
This is especially pertinent for pull requests which affect the build infrastructure.

## Jenkins

To test the examples which use Jenkins for CI with a PR branch of Drake,
comment on an open pull request using the following command:

* ``@drake-jenkins-bot linux-jammy-unprovisioned-external-examples please``

or follow the [instructions above](#scheduling-builds-via-the-jenkins-user-interface)
to schedule a build of the
[external examples job](https://drake-jenkins.csail.mit.edu/view/Linux%20Jammy%20Unprovisioned/job/linux-jammy-unprovisioned-external-examples/).
Note that this job provides parameters for branches of
drake and drake-external-examples.

## GitHub Actions

You can schedule "experimental" builds of a [binary package](/from_binary.html),
[debian package](/apt.html), and/or a [wheel package](/pip.html) by following the
instructions [above](#building-packages-on-demand).
Copy the download URL(s) obtained from the build as described.

From the [GitHub Actions workflow](https://github.com/RobotLocomotion/drake-external-examples/actions/workflows/ci.yml)
in drake-external-examples, notice the message "This workflow has a
`workflow_dispatch` event trigger." Click "Run workflow" and input the
download URL(s) copied from Jenkins in the drop-down menu.
All parameters are optional, so you can ignore the package(s) and/or platform(s)
that you don't need. (For those left blank, the default workflow will run using
a more "stable" version of Drake, which is usually either source code from
`master` or a nightly release depending on the example).