spawn actor relative to base_link on the map #607
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| --- | |
| name: test-build | |
| on: | |
| # Triggers the workflow on push or pull request events but | |
| # only for the main branch | |
| push: | |
| branches: [main] | |
| pull_request: | |
| branches: [main] | |
| workflow_dispatch: | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| permissions: read-all | |
| jobs: | |
| build: | |
| runs-on: intellabs-01 | |
| container: | |
| image: osrf/ros:humble-desktop-full | |
| permissions: | |
| # checks: write | |
| pull-requests: write | |
| steps: | |
| - uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1 | |
| with: | |
| submodules: true | |
| - name: Setup Dependencies | |
| run: | | |
| apt update | |
| apt install -y python3-pip | |
| xargs -a deb_requirements.txt apt install -y --no-install-recommends | |
| rosdep update --rosdistro=humble | |
| rosdep install --rosdistro=humble --from-paths . --ignore-src -r -y | |
| pip3 install -r requirements.txt | |
| - name: Build | |
| shell: bash | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| colcon build --continue-on-error | |
| source install/setup.bash | |
| - name: Test | |
| shell: bash | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| export -n CYCLONEDDS_URI | |
| export ROS_DOMAIN_ID=2 | |
| colcon test --packages-select \ | |
| scenario_execution \ | |
| scenario_execution_ros \ | |
| scenario_execution_gazebo \ | |
| scenario_coverage \ | |
| --event-handlers console_direct+ \ | |
| --return-code-on-test-failure \ | |
| --pytest-args \ | |
| --junit-xml=TEST.xml | |
| - name: Publish Test Results | |
| uses: EnricoMi/publish-unit-test-result-action@f355d34d53ad4e7f506f699478db2dd71da9de5f #v2.15.1 | |
| if: always() | |
| with: | |
| check_run: false | |
| files: | | |
| scenario_execution//TEST.xml | |
| scenario_execution_ros//TEST.xml | |
| scenario_execution_gazebo//TEST.xml | |
| scenario_coverage//TEST.xml | |
| test-scenarios: | |
| runs-on: intellabs-01 | |
| container: | |
| image: osrf/ros:humble-desktop | |
| permissions: | |
| # checks: write | |
| pull-requests: write | |
| steps: | |
| - uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1 | |
| with: | |
| submodules: true | |
| - name: Setup Dependencies | |
| run: | | |
| apt update | |
| apt install -y xvfb tk | |
| apt install -y libgl1 | |
| apt install -y python3-pip | |
| xargs -a deb_requirements.txt apt install -y --no-install-recommends | |
| rosdep update --rosdistro=humble | |
| rosdep install --rosdistro=humble --from-paths . --ignore-src -r -y | |
| apt install -y ros-humble-gazebo-ros2-control | |
| pip3 install -r requirements.txt | |
| - name: Build IGN_ROS_CONTROL # build from source for now because base package has errors. | |
| shell: bash | |
| run: | | |
| mkdir -p /ros_ign/src | |
| cd /ros_ign/src | |
| git clone --branch humble https://github.com/ros-controls/gz_ros2_control.git | |
| rosdep install -r --from-paths . --ignore-src --rosdistro humble -y | |
| cd /ros_ign | |
| source /opt/ros/humble/setup.bash | |
| colcon build --continue-on-error | |
| source install/setup.bash | |
| - name: Build | |
| shell: bash | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| colcon build --continue-on-error | |
| source install/setup.bash | |
| - name: Test Scenario Files Syntax | |
| shell: bash | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| find . -name "*.osc" | grep -Ev "lib_osc/*|examples/example_scenario_variation|scenario_coverage|fail*|install|build" | while read -r file; do | |
| echo "$file"; | |
| ros2 run scenario_execution scenario_execution "$file" -n; | |
| done | |
| - name: Test Example Scenario | |
| shell: bash | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| #shellcheck disable=SC1083 | |
| scenario_batch_execution -i examples/example_scenario/ -o test_example_scenario -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} | |
| - name: Test Example Library | |
| shell: bash | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| # shellcheck disable=SC1083 | |
| scenario_batch_execution -i examples/example_library/scenarios -o test_example_library -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} | |
| - name: Test Example Variation | |
| shell: bash | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| scenario_variation -o scenario_variation_out examples/example_scenario_variation/example_scenario_variation.osc | |
| # shellcheck disable=SC1083 | |
| scenario_batch_execution -i scenario_variation_out -o test_example_variation -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} | |
| - name: Test Example Scenario Control | |
| shell: bash | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| mkdir test_example_control | |
| python3 scenario_execution_control/test/scenario_execution_control_test_ci.py | |
| - name: Test Example Nav2 | |
| shell: bash | |
| run: | | |
| source /ros_ign/install/setup.bash | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| Xvfb :1 -screen 0 800x600x16 & | |
| export DISPLAY=:1.0 | |
| export -n CYCLONEDDS_URI | |
| export ROS_DOMAIN_ID=119 | |
| export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID} | |
| sed -i 's/60s/600s/g' examples/example_nav2/example_nav2.osc | |
| # shellcheck disable=SC1083 | |
| scenario_batch_execution -i examples/example_nav2/ -o test_example_nav2 -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} | |
| - name: Test Example Simulation | |
| shell: bash | |
| run: | | |
| source /ros_ign/install/setup.bash | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| Xvfb :1 -screen 0 800x600x16 & | |
| export DISPLAY=:1.0 | |
| export -n CYCLONEDDS_URI | |
| export ROS_DOMAIN_ID=119 | |
| export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID} | |
| sed -i 's/120s/900s/g' examples/example_simulation/scenarios/example_simulation.osc | |
| # shellcheck disable=SC1083 | |
| scenario_batch_execution -i examples/example_simulation/scenarios/ -o test_example_simulation -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} | |
| - name: Test Example Multirobot | |
| shell: bash | |
| run: | | |
| source /ros_ign/install/setup.bash | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| Xvfb :1 -screen 0 800x600x16 & | |
| export DISPLAY=:1.0 | |
| export -n CYCLONEDDS_URI | |
| export ROS_DOMAIN_ID=119 | |
| export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID} | |
| sed -i 's/240s/1500s/g' examples/example_multi_robot/example_multi_robot.osc | |
| # shellcheck disable=SC1083 | |
| scenario_batch_execution -i examples/example_multi_robot/ -o test_example_multirobot -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} yaw:=3.14 output_dir:={OUTPUT_DIR} | |
| - name: Publish Scenario Results | |
| uses: EnricoMi/publish-unit-test-result-action@f355d34d53ad4e7f506f699478db2dd71da9de5f #v2.15.1 | |
| if: always() | |
| with: | |
| check_name: Scenario Results | |
| check_run: false | |
| action_fail: true | |
| comment_mode: always | |
| files: | | |
| test_example_scenario/test.xml | |
| test_example_library/test.xml | |
| test_example_variation/test.xml | |
| test_example_control/test.xml | |
| test_example_nav2/test.xml | |
| test_example_simulation/test.xml | |
| test_example_multirobot/test.xml | |
| - name: Upload Scenario Results | |
| uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb | |
| if: always() | |
| with: | |
| name: test-scenario-results | |
| path: | | |
| test_example_scenario/test.xml | |
| test_example_library/test.xml | |
| test_example_variation/test.xml | |
| test_example_control/test.xml | |
| test_example_nav2/test.xml | |
| test_example_simulation/test.xml | |
| test_example_nav2/test.xml | |
| test_example_multirobot/test.xml |