test_build.yml

---
name: test-build
on:
  pull_request:
    branches: [main, humble, jazzy]
  workflow_dispatch:
concurrency: 
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true
permissions: read-all
jobs:
  build:
    #TODO model dependency to image-workflow. Workaround: retrigger run after image-workflow finished.
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Checkout code
        uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1
        with:
          submodules: true
      - name: Build
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          git clone https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git
          cd nav2_minimal_turtlebot_simulation
          git checkout f4eefd049359b3f0becabd7a0870005f4140ec08
          cd ..
          colcon build --continue-on-error
          source install/setup.bash
      - name: Cache Build
        id: cache-test-id
        uses: actions/cache/save@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          path: .
          key: ${{ runner.os }}-build-${{ github.run_number }}
  test-scenario-execution:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache/restore@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          colcon test --packages-select \
          scenario_execution \
          scenario_execution_os \
          scenario_execution_coverage \
          scenario_execution_test \
          --event-handlers console_direct+ \
          --return-code-on-test-failure \
          --pytest-args \
          --junit-xml=TEST.xml
          # Add "--capture=no" to see output of tests
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-scenario-execution
          path: ./**/TEST.xml
  test-scenario-execution-ros:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache/restore@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          colcon test --packages-select \
          scenario_execution_ros \
          scenario_execution_ros_test \
          --event-handlers console_direct+ \
          --return-code-on-test-failure \
          --pytest-args \
          --junit-xml=TEST.xml
          # Add "--capture=no" to see output of tests
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-scenario-execution-ros
          path: ./**/TEST.xml
  scenario-files-validation:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Scenario Files
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          find . -name "*.osc" | grep -Ev "lib_osc/*|examples/example_scenario_variation|scenario_execution_coverage|fail*|install|build" | while read -r file; do 
            echo "$file"; 
            ros2 run scenario_execution scenario_execution "$file" -n; 
          done
  test-example-scenario:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Scenario
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          #shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_scenario/ -o test_example_scenario --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-scenario-result
          path: test_example_scenario/test.xml
  test-example-library:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Library
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_library/scenarios -o test_example_library --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-library-result
          path: test_example_library/test.xml
  test-example-variation:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Variation
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          scenario_variation -o scenario_variation_out examples/example_scenario_variation/example_scenario_variation.osc
          # shellcheck disable=SC1083
          scenario_batch_execution -i scenario_variation_out -o test_example_variation --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-variation-result
          path: test_example_variation/test.xml
  test-example-nav2:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Nav2
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          sed -i 's/60s/600s/g' examples/example_nav2/example_nav2.osc
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_nav2/ -o test_example_nav2 --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True use_rviz:=False
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-nav2-result
          path: test_example_nav2/test.xml
  test-example-simulation:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Simulation
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          sed -i 's/120s/600s/g' examples/example_simulation/scenarios/example_simulation.osc
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_simulation/scenarios/ -o test_example_simulation --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True use_rviz:=False
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-simulation-result
          path: test_example_simulation/test.xml
  test-example-multirobot:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Multirobot
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          sed -i 's/240s/900s/g' examples/example_multi_robot/scenarios/example_multi_robot.osc
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_multi_robot/scenarios/ -o test_example_multirobot --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True use_rviz:=False
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-multirobot-result
          path: test_example_multirobot/test.xml
      - name: Convert video
        if: always()
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source /rosbag2_to_video/install/setup.bash
          ros2 bag to_video  -t /static_camera/image_raw -o test_example_multirobot/example_multi_robot/example-multi-robot.mp4  test_example_multirobot/example_multi_robot/rosbag2_* --fps 5 --codec mp4v
      - name: Upload video
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-multirobot-video
          path: test_example_multirobot/example_multi_robot/example-multi-robot.mp4
      - name: Upload ros bag
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-multirobot-ros-bag
          path: test_example_multirobot/**/rosbag*
  test-example-external-method:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example External Method
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_external_method/scenarios -o test_example_external_method --ignore-process-return-value -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-external-method-result
          path: test_example_external_method/test.xml
  test-example-moveit2:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Moveit2
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          sed -i 's/60s/600s/g' examples/example_moveit2/example_moveit2.osc
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_moveit2/ -o test_example_moveit2  --ignore-process-return-value -- ros2 launch arm_sim_scenario sim_moveit_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-example-moveit2-result
          path: test_example_moveit2/test.xml
  test-scenario-execution-gazebo:
    needs: [build]
    runs-on: intellabs-01
    timeout-minutes: 30
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Scenario Execution Gazebo
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          # shellcheck disable=SC1083
          scenario_batch_execution -i test/scenario_execution_gazebo_test/scenarios/ -o test_scenario_execution_gazebo --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True use_rviz:=False
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-scenario-execution-gazebo
          path: test_scenario_execution_gazebo/test.xml
  test-scenario-execution-nav2:
    needs: [build]
    runs-on: intellabs-01
    timeout-minutes: 30
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Scenario Execution Nav2
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          # shellcheck disable=SC1083
          scenario_batch_execution -i test/scenario_execution_nav2_test/scenarios/ -o test_scenario_execution_nav2 --ignore-process-return-value -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} headless:=True
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-scenario-execution-nav2
          path: test_scenario_execution_nav2/test.xml
      - name: Convert video
        if: always()
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source /rosbag2_to_video/install/setup.bash
          ros2 bag to_video  -t /static_camera/image_raw -o test_scenario_execution_nav2/test_scenario_execution_nav2/example_nav2.mp4  test_scenario_execution_nav2/test_scenario_execution_nav2/rosbag2_* --fps 5 --codec mp4v
      - name: Upload video
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-scenario-execution-nav2-video
          path: test_scenario_execution_nav2/test_scenario_execution_nav2/example_nav2.mp4
  test-scenario-execution-pybullet:
    needs: [build]
    runs-on: intellabs-01
    timeout-minutes: 10
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Scenario Execution PyBullet
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          sed -i 's/p.GUI/p.DIRECT/g' ./install/scenario_execution_pybullet/lib/python3.1*/site-packages/scenario_execution_pybullet/actions/sim_initialize.py
          ros2 run scenario_execution scenario_execution libs/scenario_execution_pybullet/scenarios/example_pybullet.osc -t -s 0.00416666666 -o test_scenario_execution_pybullet
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-scenario-execution-pybullet
          path: test_scenario_execution_pybullet/test.xml
  test-scenario-execution-x11:
    needs: [build]
    runs-on: intellabs-01
    timeout-minutes: 3
    container:
      image: ghcr.io/intellabs/scenario-execution:${{ github.event.pull_request.base.ref }}
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Scenario Execution X11
        shell: bash
        run: |
          source /opt/ros/${{ github.event.pull_request.base.ref == 'main' && 'humble' || github.event.pull_request.base.ref }}/setup.bash
          source install/setup.bash
          sudo apt -y install mesa-utils
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          ros2 run scenario_execution_ros scenario_execution_ros  libs/scenario_execution_x11/scenarios/example_capture.osc -t -o test_scenario_execution_x11
          find test_scenario_execution_x11
      - name: Upload result
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-scenario-execution-x11
          path: test_scenario_execution_x11/test.xml
      - name: Upload video
        uses: actions/upload-artifact@0b2256b8c012f0828dc542b3febcab082c67f72b # v4.3.4
        if: always()
        with:
          name: test-scenario-execution-x11-video
          path: test_scenario_execution_x11/capture.mp4
  tests:
    needs: 
    - test-scenario-execution
    - test-scenario-execution-ros
    - scenario-files-validation
    - test-example-scenario
    - test-example-library
    - test-example-variation
    - test-example-nav2
    - test-example-simulation
    - test-example-multirobot
    - test-example-moveit2
    - test-example-external-method
    - test-scenario-execution-gazebo
    - test-scenario-execution-nav2
    - test-scenario-execution-pybullet
    - test-scenario-execution-x11
    runs-on: intellabs-01
    if: ${{ always() }}
    permissions:
      checks: write
      pull-requests: write
    steps:
      - name: Download all artifacts
        uses: actions/download-artifact@7a1cd3216ca9260cd8022db641d960b1db4d1be4 #v4.0
        with:
          path: downloaded-artifacts
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Publish Test Results
        uses: EnricoMi/publish-unit-test-result-action@30eadd5010312f995f0d3b3cff7fe2984f69409e #v2.16.1
        with:
          check_name: Test Results
          action_fail: true
          comment_mode: always
          files: |
            downloaded-artifacts/test-scenario-execution/scenario_execution/TEST.xml
            downloaded-artifacts/test-scenario-execution/scenario_execution_coverage/TEST.xml
            downloaded-artifacts/test-scenario-execution/libs/scenario_execution_os/TEST.xml
            downloaded-artifacts/test-scenario-execution/test/scenario_execution_test/TEST.xml
            downloaded-artifacts/test-scenario-execution-ros/scenario_execution_ros/TEST.xml
            downloaded-artifacts/test-scenario-execution-ros/test/scenario_execution_ros_test/TEST.xml
            downloaded-artifacts/test-example-scenario-result/test.xml
            downloaded-artifacts/test-example-library-result/test.xml
            downloaded-artifacts/test-example-variation-result/test.xml
            downloaded-artifacts/test-example-nav2-result/test.xml
            downloaded-artifacts/test-example-simulation-result/test.xml
            downloaded-artifacts/test-example-multirobot-result/test.xml
            downloaded-artifacts/test-example-external-method-result/test.xml
            downloaded-artifacts/test-example-moveit2-result/test.xml
            downloaded-artifacts/test-scenario-execution-gazebo/test.xml
            downloaded-artifacts/test-scenario-execution-nav2/test.xml
            downloaded-artifacts/test-scenario-execution-pybullet/test.xml