From cecaf6f8f5ea4d2987c2612a03e6b346021b8afa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Thu, 8 Jun 2023 18:49:28 +0200 Subject: [PATCH 1/6] Run end to end test in CI MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- .github/workflows/ci.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 6572079a..48c7c1ec 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -73,11 +73,11 @@ jobs: run: | cd /home/ros2_ws/ . /opt/ros/${ROS_DISTRO}/local_setup.sh - colcon build --packages-up-to gz_ros2_control_demos + colcon build --packages-up-to gz_ros2_control_demos gz_ros2_control_tests - name: Run tests id: test run: | cd /home/ros2_ws/ . /opt/ros/${ROS_DISTRO}/local_setup.sh - colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos + colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests colcon test-result From 317b5ab2401ff0860307f8c2b80c18dd24b938d9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Thu, 8 Jun 2023 23:50:37 +0200 Subject: [PATCH 2/6] Fixed dependencies MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- gz_ros2_control_tests/package.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/gz_ros2_control_tests/package.xml b/gz_ros2_control_tests/package.xml index 8abb4019..ca656c05 100644 --- a/gz_ros2_control_tests/package.xml +++ b/gz_ros2_control_tests/package.xml @@ -22,6 +22,9 @@ joint_trajectory_controller launch launch_ros + launch_testing_ament_cmake + python3-psutil + python3-pytest ros2launch rclcpp robot_state_publisher From e86b4b00318ec326627d463165f4567939e8b664 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 9 Jun 2023 00:02:08 +0200 Subject: [PATCH 3/6] Fix CI MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- .github/workflows/ci.yaml | 7 +++++++ gz_ros2_control_tests/package.xml | 2 +- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 48c7c1ec..734fd4fb 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -63,6 +63,13 @@ jobs: if [ "$GZ_VERSION" == "garden" ]; then export ROSDEP_ARGS="--skip-keys ros_gz_sim --skip-keys gz-plugin2 --skip-keys gz-sim7 --skip-keys gz-transport12 --skip-keys gz-math7 --skip-keys gz-msgs9" + cd /home/ros2_ws/src/ + if [ "$ROS_DISTRO" == "rolling" ]; then + git clone https://github.com/gazebosim/ros_gz/ + fi + if [ "$ROS_DISTRO" == "iron" ]; then + git clone https://github.com/gazebosim/ros_gz/ -b iron + fi fi cd /home/ros2_ws/src/ rosdep init diff --git a/gz_ros2_control_tests/package.xml b/gz_ros2_control_tests/package.xml index ca656c05..ff8bd551 100644 --- a/gz_ros2_control_tests/package.xml +++ b/gz_ros2_control_tests/package.xml @@ -30,7 +30,7 @@ robot_state_publisher ros_gz_sim ros_gz_sim - ros_ign_gazebo + ros_ign_gazebo ros2controlcli xacro From 4b7c2821a5662b38d0ca06de3bc328f4f8672656 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 9 Jun 2023 00:11:18 +0200 Subject: [PATCH 4/6] Fix CI MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- .github/workflows/ci.yaml | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 734fd4fb..458a82d7 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -49,7 +49,7 @@ jobs: wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null if [ "$GZ_VERSION" == "garden" ]; then - export GZ_DEPS="libgz-sim7-dev libgz-plugin2-dev" + export GZ_DEPS="libgz-sim7-dev libgz-plugin2-dev gz-sim7-cli" fi apt-get update && apt-get upgrade -q -y @@ -63,15 +63,14 @@ jobs: if [ "$GZ_VERSION" == "garden" ]; then export ROSDEP_ARGS="--skip-keys ros_gz_sim --skip-keys gz-plugin2 --skip-keys gz-sim7 --skip-keys gz-transport12 --skip-keys gz-math7 --skip-keys gz-msgs9" - cd /home/ros2_ws/src/ - if [ "$ROS_DISTRO" == "rolling" ]; then - git clone https://github.com/gazebosim/ros_gz/ - fi - if [ "$ROS_DISTRO" == "iron" ]; then - git clone https://github.com/gazebosim/ros_gz/ -b iron - fi fi cd /home/ros2_ws/src/ + if [ "$ROS_DISTRO" == "rolling" ]; then + git clone https://github.com/gazebosim/ros_gz/ + fi + if [ "$ROS_DISTRO" == "iron" ]; then + git clone https://github.com/gazebosim/ros_gz/ -b iron + fi rosdep init rosdep update rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src ${ROSDEP_ARGS} From 37a6d63b62c9787b1017acca95c10ed885a4c9ee Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 9 Jun 2023 09:45:42 +0200 Subject: [PATCH 5/6] Fixed CI MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- gz_ros2_control_tests/tests/position_test.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gz_ros2_control_tests/tests/position_test.py b/gz_ros2_control_tests/tests/position_test.py index f20f7f70..ae0da5af 100755 --- a/gz_ros2_control_tests/tests/position_test.py +++ b/gz_ros2_control_tests/tests/position_test.py @@ -120,7 +120,7 @@ def generate_test_description(): class TestFixture(unittest.TestCase): def test_arm(self, launch_service, proc_info, proc_output): - proc_output.assertWaitFor('Sucessfully loaded controller joint_trajectory_controller ' + proc_output.assertWaitFor('Successfully loaded controller joint_trajectory_controller ' 'into state active', timeout=100, stream='stdout') From a4122668a3de6284628747d806e9366d0ecb1451 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Fri, 9 Jun 2023 10:04:24 +0200 Subject: [PATCH 6/6] Try to fix CI MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- gz_ros2_control_tests/src/test_position.cpp | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/gz_ros2_control_tests/src/test_position.cpp b/gz_ros2_control_tests/src/test_position.cpp index c35a515a..5d81a208 100644 --- a/gz_ros2_control_tests/src/test_position.cpp +++ b/gz_ros2_control_tests/src/test_position.cpp @@ -12,6 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include #include #include #include @@ -102,11 +103,19 @@ int main(int argc, char * argv[]) node->get_node_waitables_interface(), "/joint_trajectory_controller/follow_joint_trajectory"); - bool response = - action_client->wait_for_action_server(std::chrono::seconds(1)); - if (!response) { - throw std::runtime_error("could not get action server"); + while (true) { + bool response = + action_client->wait_for_action_server(std::chrono::seconds(1)); + if (!response) { + using namespace std::chrono_literals; + std::this_thread::sleep_for(2000ms); + std::cout << "Trying to connect to the server again" << std::endl; + continue; + } else { + break; + } } + std::cout << "Created action server" << std::endl; std::vector joint_names = {"slider_to_cart"};