micro-ROS HIL tests #1311
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| name: micro-ROS HIL tests | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| name: | |
| description: "Manual trigger" | |
| schedule: | |
| - cron: '00 6 * * *' | |
| jobs: | |
| micro_ros_renesas_testbench: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - ros_distribution: humble | |
| branch: humble | |
| board_id: 19 | |
| - ros_distribution: jazzy | |
| branch: jazzy | |
| board_id: 20 | |
| - ros_distribution: rolling | |
| branch: rolling | |
| board_id: 21 | |
| runs-on: rpi-ros2-${{ matrix.ros_distribution }}-${{ matrix.board_id }} | |
| steps: | |
| - name: Create ROS 2 workspace | |
| run: | | |
| rm -rf ros_ws/src ros_ws/log | |
| mkdir -p ros_ws/src | |
| - uses: actions/checkout@v4 | |
| with: | |
| path: ros_ws/src/micro_ros_renesas_testbench | |
| submodules: recursive | |
| ref: ${{ matrix.branch }} | |
| - name: Download dependencies | |
| run: | | |
| cd ros_ws | |
| vcs import --force --shallow --input src/micro_ros_renesas_testbench/requirements.repos src | |
| - name: Build micro-ROS library | |
| run: | | |
| bash ros_ws/src/micro_ros_renesas_testbench/test/micro_ros_renesas_testbench/scripts/build_microros.sh | |
| - name: Build and run tests | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distribution }}/setup.sh | |
| cd ros_ws | |
| source install/local_setup.bash | |
| colcon build --cmake-clean-cache --cmake-force-configure --packages-select micro_ros_renesas_testbench | |
| # colcon test --event-handlers console_direct+ --packages-select=micro_ros_renesas_testbench --return-code-on-test-failure --ctest-args -E "(cpplint)|(lint_cmake)|(uncrustify)|(xmllint)" | |
| RMW_IMPLEMENTATION=rmw_fastrtps_cpp ./build/micro_ros_renesas_testbench/micro_ros_renesas_testbench_test --gtest_filter=-HardwareTestMemoryProfiling*:*ThroughputTest*:*BenchmarkTestAllTransports* | |
| - name: Run profiling | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distribution }}/setup.sh | |
| cd ros_ws | |
| source install/local_setup.bash | |
| rm -rf *.txt | |
| RMW_IMPLEMENTATION=rmw_fastrtps_cpp ./build/micro_ros_renesas_testbench/micro_ros_renesas_testbench_test --gtest_filter=HardwareTestMemoryProfiling*:*ThroughputTest*:*BenchmarkTestAllTransports* | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: benchmark-results-${{ matrix.ros_distribution }}-${{ matrix.board_id }} | |
| path: ros_ws/*.txt |