tests #271

	name: tests

	on:
	# Run action on certain pull request events
	pull_request:
	types: [opened, synchronize, reopened, ready_for_review]

	# Nightly job on default (main) branch
	schedule:
	- cron: '0 0 * * *'

	# Ensures that only one workflow runs at a time for this branch
	concurrency:
	group: ${{ github.ref }}
	cancel-in-progress: true

	jobs:
	# Pure Python testing
	python-test:
	runs-on: ubuntu-latest
	steps:
	- name: Check out repository
	uses: actions/checkout@v3
	- name: Set up Python
	uses: actions/setup-python@v3
	with:
	python-version: '3.10'
	- name: Install dependencies
	run: \|
	python3 -m pip install --upgrade pip
	pip3 install -e pyrobosim
	pip3 install -r test/python_test_requirements.txt
	setup/setup_pddlstream.bash
	- name: Run unit tests
	run: \|
	export PYTHONPATH=./dependencies/pddlstream:$PYTHONPATH
	test/run_tests.bash
	- name: Upload test results
	uses: actions/upload-artifact@v3
	with:
	name: test-results
	path: test/results/
	# Always publish test results even when there are failures.
	if: ${{ always() }}

	# Testing with ROS 2
	ros2-test:
	strategy:
	matrix:
	ros_distro: [humble, iron, rolling]
	env:
	ROS_DISTRO: ${{ matrix.ros_distro }}

	name: ros-${{ matrix.ros_distro }}-test
	runs-on: ubuntu-latest
	steps:
	- name: Check out repository
	uses: actions/checkout@v3
	- name: Run unit tests in Docker container
	run: docker compose run test
	- name: Upload test results
	uses: actions/upload-artifact@v3
	with:
	name: test-results-${{ matrix.ros_distro }}
	path: test/results/
	# Always publish test results even when there are failures.
	if: ${{ always() }}

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