Merge pull request #479 from k-okada/fix_ga

integrate all .github/workflows/*.yml to config.yml, fix permission issue

.github/workflows/config.yml

@@ -0,0 +1,111 @@
+# jsk_travis
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+env:
+  DISPLAY: ':0.0'
+
+jobs:
+  ros:
+    runs-on: ubuntu-latest
+#    continue-on-error: ${{ matrix.experimental }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ROS_DISTRO: indigo
+            CONTAINER: jskrobotics/ros-ubuntu:14.04
+            USE_DEB : true
+            EXTRA_DEB: "ros-indigo-pr2-gazebo ros-indigo-pr2-arm-kinematics"
+            NOT_TEST_INSTALL: true
+            TEST_PKGS: "pr2eus"
+            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y; sudo apt dist-upgrade -y; mkdir -p ~/.gazebo/; git clone --depth=1 https://github.com/osrf/gazebo_models.git ~/.gazebo/models"
+          - ROS_DISTRO: indigo
+            CONTAINER: jskrobotics/ros-ubuntu:14.04
+            USE_DEB : true
+            EXTRA_DEB: "ros-indigo-pr2-gazebo ros-indigo-pr2-arm-kinematics"
+            NOT_TEST_INSTALL: true
+            TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"
+            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y; sudo apt dist-upgrade -y; mkdir -p ~/.gazebo/; git clone --depth=1 https://github.com/osrf/gazebo_models.git ~/.gazebo/models"
+          - ROS_DISTRO: kinetic
+            CONTAINER: ubuntu:16.04
+            USE_DEB : true
+            TEST_PKGS: "pr2eus"
+            EXTRA_DEB: "ros-kinetic-moveit-ros-perception"
+            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu xenial main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y"
+          - ROS_DISTRO: kinetic
+            CONTAINER: ubuntu:16.04
+            USE_DEB : true
+            TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"
+            EXTRA_DEB: "ros-kinetic-moveit-ros-perception"
+            BEFORE_SCRIPT: "echo 'deb http://packages.osrfoundation.org/gazebo/ubuntu xenial main' | sudo tee /etc/apt/sources.list.d/gazebo-stable.list; wget --no-check-certificate https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -; sudo apt update -y"
+          - ROS_DISTRO: melodic
+            CONTAINER: ubuntu:18.04
+            USE_DEB : true
+            TEST_PKGS: "pr2eus"
+          - ROS_DISTRO: melodic
+            CONTAINER: ubuntu:18.04
+            USE_DEB : true
+            TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"
+          # - ROS_DISTRO: noetic
+          #   CONTAINER: ubuntu:20.04
+          #   USE_DEB : true
+          #   TEST_PKGS: "pr2eus"
+          # - ROS_DISTRO: noetic
+          #   CONTAINER: ubuntu:20.04
+          #   USE_DEB : true
+          #   TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"
+          - ROS_DISTRO: noetic
+            CONTAINER: ubuntu:20.04
+            USE_DEB : false
+            BUILD_PKGS: "pr2eus_moveit pr2eus_tutorials"
+            TEST_PKGS: "pr2eus"
+          - ROS_DISTRO: noetic
+            CONTAINER: ubuntu:20.04
+            USE_DEB : false
+            BUILD_PKGS: "pr2eus_moveit pr2eus_tutorials"
+            TEST_PKGS: "pr2eus_moveit pr2eus_tutorials"
+
+
+    container: ${{ matrix.CONTAINER }}
+
+    steps:
+      - name: Install latest git ( use sudo for ros-ubuntu )
+        run: |
+          (apt-get update && apt-get install -y sudo) || echo "OK"
+          sudo apt-get update && sudo apt-get install -y software-properties-common && sudo apt-get update && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: |
+          set -x
+          export USER=$(whoami)
+          if [ "${{ matrix.CONTAINER }}" = "jskrobotics/ros-ubuntu:14.04" ]; then
+             git config --global --add safe.directory $GITHUB_WORKSPACE || echo "OK" # Show 'could not lock config file /github/home/.gitconfig: Permission denied', but it is ok
+             sudo mkdir -p /__w/
+             sudo chmod 777 -R /__w/
+             sudo chown -R $USER $HOME
+             # sudo mkdir -p /home/runner/work/_temp/_github_workflow/
+             # sudo chown -R $USER $HOME /home/runner/work/_temp/_github_workflow/
+             # ls -al /home/runner/work/_temp/_github_workflow/
+          else
+             git config --global --add safe.directory $GITHUB_WORKSPACE
+          fi
+
+      - name: Chcekout
+        uses: actions/checkout@v2
+
+      - name: Run jsk_travis
+        uses: jsk-ros-pkg/jsk_travis@master
+        with:
+          ROS_PARALLEL_TEST_JOBS : "-j1"
+          CATKIN_PARALLEL_TEST_JOBS : "-p1"
+          ROS_DISTRO : ${{ matrix.ROS_DISTRO }}
+          USE_DEB :  ${{ matrix.USE_DEB }}
+          NOT_TEST_INSTALL : ${{ matrix.NOT_TEST_INSTALL }}
+          BUILD_PKGS: ${{ matrix.BUILD_PKGS }}
+          TEST_PKGS : ${{ matrix.TEST_PKGS }}
+          EXTRA_DEB : ${{ matrix.EXTRA_DEB }}
+          BEFORE_SCRIPT : ${{ matrix.BEFORE_SCRIPT }}

.github/workflows/python2.yml

@@ -0,0 +1,18 @@
+# generated by `./generate_action_config.py noetic`
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    name: check_python2
+
+    container: ubuntu:20.04
+
+    steps:
+      - name: Chcekout
+        uses: actions/checkout@v2
+      - name: Check Python2
+        run: |
+          apt update -q && apt install -y -q python2
+          python2 -m compileall .

.github/workflows/python3.yml

@@ -0,0 +1,22 @@
+# generated by `./generate_action_config.py noetic`
+# jsk_travis
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    name: check_python3
+
+    container: ubuntu:20.04
+
+    steps:
+      - name: Install latest git to download .git directory in actions/checkout@v2 ( use sudo for ros-ubuntu )
+        run: apt-get update && apt-get install -y software-properties-common && apt-get update && add-apt-repository -y ppa:git-core/ppa && apt-get update && apt-get install -y git
+      - name: work around permission issue  # https://github.com/actions/checkout/issues/760#issuecomment-1097501613
+        run: git config --global --add safe.directory $GITHUB_WORKSPACE
+      - name: Chcekout
+        uses: actions/checkout@v2
+      - name: Check Python3
+        run: |
+          apt update -q && apt install -y -q python3 git 2to3
+          bash -c "ret=0; trap 'ret=1' ERR; python3 -m compileall .; 2to3 -w -f except -f execfile -f has_key -f import -f raw_input -f zip .; git diff --exit-code . > /dev/null; echo Exitting with \$ret; exit \$ret"

.travis.rosinstall

@@ -4,3 +4,6 @@
 - git:
     uri: https://github.com/jsk-ros-pkg/jsk_roseus.git
     local-name: jsk-ros-pkg/jsk_roseus
+- git:
+    uri: https://github.com/jsk-ros-pkg/jsk_model_tools.git
+    local-name: jsk-ros-pkg/jsk_model_tools

pr2eus/CMakeLists.txt

@@ -50,6 +50,8 @@ if(CATKIN_ENABLE_TESTING)
     find_package(pr2_gazebo QUIET)
     if(pr2_gazebo_FOUND AND (NOT pr2_gazebo_VERSION VERSION_LESS 2.0.7)) # test only supports indigo
       add_rostest(test/pr2-ri-test.launch)
+      add_rostest(test/pr2-ri-test-arm.launch)
+      add_rostest(test/pr2-ri-test-base.launch)
       add_rostest(test/pr2-ri-test-namespace.launch)
     endif()
     add_rostest(test/pr2-ri-test-simple.launch)

pr2eus/test/pr2-ri-test-arm.launch

@@ -0,0 +1,9 @@
+<launch>
+  <arg name="gui" default="false"/>
+  <include file="$(find pr2eus)/test/pr2-ri-test-bringup.launch"
+           pass_all_args="true" />
+
+  <!-- start test -->
+  <test test-name="pr2_ri_test_arm" pkg="roseus" type="roseus" retry="1"
+        args="$(find pr2eus)/test/pr2-ri-test-arm.l" time-limit="800" />
+</launch>

pr2eus/test/pr2-ri-test-base.launch

@@ -0,0 +1,9 @@
+<launch>
+  <arg name="gui" default="false"/>
+  <include file="$(find pr2eus)/test/pr2-ri-test-bringup.launch"
+           pass_all_args="true" />
+
+  <!-- start test -->
+  <test test-name="pr2_ri_test_base" pkg="roseus" type="roseus" retry="1"
+        args="$(find pr2eus)/test/pr2-ri-test-base.l" time-limit="800" />
+</launch>

pr2eus/test/pr2-ri-test.launch

@@ -4,10 +4,6 @@
            pass_all_args="true" />
 
   <!-- start test -->
-  <test test-name="pr2_ri_test_arm" pkg="roseus" type="roseus" retry="1"
-        args="$(find pr2eus)/test/pr2-ri-test-arm.l" time-limit="800" />
-  <test test-name="pr2_ri_test_base" pkg="roseus" type="roseus" retry="1"
-        args="$(find pr2eus)/test/pr2-ri-test-base.l" time-limit="800" />
   <test test-name="pr2_ri_test_simple" pkg="roseus" type="roseus" retry="1"
         args="$(find pr2eus)/test/pr2-ri-test-simple.l" time-limit="800" />
 </launch>

pr2eus/test/speak-test-eus.test

@@ -2,7 +2,7 @@
   <env name="DISPLAY" value=":0.0" />
   <arg name="test_action" default="false" />
 
-  <test test-name="stest_peak_publish_euslisp_$(arg test_action)" pkg="roseus" type="roseus"
+  <test test-name="test_speak_publish_euslisp_$(arg test_action)" pkg="roseus" type="roseus"
         args="$(find pr2eus)/test/speak-test.l"/>
 
   <group if="$(arg test_action)" >

pr2eus/test/test_dummy_soundplay_node.py

@@ -170,7 +170,7 @@ def get_staleness(self):
             pass
             # position = self.sound.query_position(gst.FORMAT_TIME)[0]
             # duration = self.sound.query_duration(gst.FORMAT_TIME)[0]
-        except Exception, e:
+        except Exception as e:
             position = 0
             duration = 0
         finally:
@@ -232,6 +232,9 @@ def select_sound(self, data):
                 os.close(wavfile)
                 voice = data.arg2
                 try:
+                    # try to encode if data.args is not string for pytho3n
+                    if sys.version_info.major >= 3 and type(data.arg) is str:
+                        data.arg = data.arg.encode()
                     txtfile.write(data.arg)
                     txtfile.flush()
                     rospy.loginfo("text2wave -eval '("+voice+")' "+txtfilename+" -o "+wavfilename)
@@ -279,7 +282,7 @@ def callback(self,data):
             else:
                 sound = self.select_sound(data)
                 sound.command(data.command)
-        except Exception, e:
+        except Exception as e:
             rospy.logerr('Exception in callback: %s'%str(e))
             rospy.loginfo(traceback.format_exc())
         finally:
@@ -292,7 +295,7 @@ def cleanupdict(self, dict):
         for (key,sound) in dict.iteritems():
             try:
                 staleness = sound.get_staleness()
-            except Exception, e:
+            except Exception as e:
                 rospy.logerr('Exception in cleanupdict for sound (%s): %s'%(str(key),str(e)))
                 staleness = 100 # Something is wrong. Let's purge and try again.
             #print "%s %i"%(key, staleness)
@@ -339,7 +342,7 @@ def diagnostics(self, state):
             da.status.append(ds)
             da.header.stamp = rospy.get_rostime()
             self.diagnostic_pub.publish(da)
-        except Exception, e:
+        except Exception as e:
             rospy.loginfo('Exception in diagnostics: %s'%str(e))
 
     def execute_cb(self, data):
@@ -379,7 +382,7 @@ def execute_cb(self, data):
                     rospy.loginfo('sound_play action: Succeeded')
                     self._as.set_succeeded(self._result)
 
-        except Exception, e:
+        except Exception as e:
             rospy.logerr('Exception in actionlib callback: %s'%str(e))
             rospy.loginfo(traceback.format_exc())
         finally: