Relative spawn #776

Workflow file for this run

.github/workflows/test_build.yml at 4ecd970

	---
	name: test-build
	on:
	pull_request:
	branches: [main]
	workflow_dispatch:
	concurrency:
	group: ${{ github.workflow }}-${{ github.ref }}
	cancel-in-progress: true
	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:humble
	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/humble/setup.bash
	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:humble
	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/humble/setup.bash
	source install/setup.bash
	export -n CYCLONEDDS_URI
	export ROS_DOMAIN_ID=2
	colcon test --packages-select \
	scenario_execution \
	scenario_execution_gazebo \
	scenario_coverage \
	--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@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
	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:humble
	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/humble/setup.bash
	source install/setup.bash
	export -n CYCLONEDDS_URI
	export ROS_DOMAIN_ID=2
	colcon test --packages-select \
	scenario_execution_ros \
	--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@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
	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:humble
	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/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
	test-example-scenario:
	needs: [build]
	runs-on: intellabs-01
	container:
	image: ghcr.io/intellabs/scenario-execution:humble
	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/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: Upload result
	uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
	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:humble
	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/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: Upload result
	uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
	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:humble
	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/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: Upload result
	uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
	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:humble
	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/humble/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 -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
	- name: Upload result
	uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
	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:humble
	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/humble/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 -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
	- name: Upload result
	uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
	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:humble
	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/humble/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/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: Upload result
	uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
	if: always()
	with:
	name: test-example-multirobot-result
	path: test_example_multirobot/test.xml
	test-scenario-execution-gazebo:
	needs: [build]
	runs-on: intellabs-01
	container:
	image: ghcr.io/intellabs/scenario-execution:humble
	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/humble/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 simulation/gazebo/test_scenario_execution_gazebo/scenarios/ -o test_scenario_execution_gazebo -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR} live_tree:=True
	- name: Upload result
	uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
	if: always()
	with:
	name: test-example-simulation-result
	path: test_example_simulation/test.xml
	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-scenario-execution-gazebo]
	runs-on: intellabs-01
	if: ${{ always() }}
	steps:
	- name: Download all artifacts
	uses: actions/download-artifact@7a1cd3216ca9260cd8022db641d960b1db4d1be4 #v4.0
	with:
	path: downloaded-artifacts
	- name: Publish Test Results
	uses: EnricoMi/publish-unit-test-result-action@f355d34d53ad4e7f506f699478db2dd71da9de5f #v2.15.1
	with:
	check_name: Test Results
	check_run: false
	action_fail: true
	comment_mode: always
	files: \|
	downloaded-artifacts/test-scenario-execution/scenario_execution/TEST.xml
	downloaded-artifacts/test-scenario-execution-ros/scenario_execution_ros/TEST.xml
	downloaded-artifacts/test-scenario-execution/scenario_coverage/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

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Relative spawn #776

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