Moveit humble #788
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| --- | |
| 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-example-external-method: | |
| 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 External Method | |
| shell: bash | |
| run: | | |
| source /opt/ros/humble/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 -- 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-external-method-result | |
| path: test_example_external_method/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} | |
| - 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-example-external-method | |
| - 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 | |
| downloaded-artifacts/test-example-external-method-result/test.xml |