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Run end to end test in CI #152

Merged
merged 8 commits into from
Jun 9, 2023
Merged

Run end to end test in CI #152

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cecaf6f
Run end to end test in CI
ahcorde Jun 8, 2023
01d6447
Merge branch 'master' into ahcorde/rolling/run_end_to_end_test_ci
ahcorde Jun 8, 2023
317b5ab
Fixed dependencies
ahcorde Jun 8, 2023
e1a64e9
Merge remote-tracking branch 'origin/ahcorde/rolling/run_end_to_end_t…
ahcorde Jun 8, 2023
e86b4b0
Fix CI
ahcorde Jun 8, 2023
4b7c282
Fix CI
ahcorde Jun 8, 2023
37a6d63
Fixed CI
ahcorde Jun 9, 2023
a412266
Try to fix CI
ahcorde Jun 9, 2023
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12 changes: 9 additions & 3 deletions .github/workflows/ci.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
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I think we should start using rosdep for these steps instead to save us some headache on the buildfarm later

fi

apt-get update && apt-get upgrade -q -y
Expand All @@ -65,6 +65,12 @@ jobs:
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"
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 ${ROSDEP_ARGS}
Expand All @@ -73,11 +79,11 @@ jobs:
run: |
cd /home/ros2_ws/
. /opt/ros/${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/${ROS_DISTRO}/local_setup.sh
colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos
colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests
colcon test-result
5 changes: 4 additions & 1 deletion gz_ros2_control_tests/package.xml
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Expand Up @@ -22,12 +22,15 @@
<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>launch_testing_ament_cmake</exec_depend>
<exec_depend>python3-psutil</exec_depend>
<exec_depend>python3-pytest</exec_depend>
<exec_depend>ros2launch</exec_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend condition="$GZ_VERSION == ''">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
<exec_depend condition="$GZ_VERSION == fortress">ros_ign_gazebo</exec_depend>
<exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
<exec_depend>ros2controlcli</exec_depend>
<exec_depend>xacro</exec_depend>

Expand Down
17 changes: 13 additions & 4 deletions gz_ros2_control_tests/src/test_position.cpp
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Expand Up @@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <chrono>
#include <memory>
#include <string>
#include <vector>
Expand Down Expand Up @@ -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<std::string> joint_names = {"slider_to_cart"};
Expand Down
2 changes: 1 addition & 1 deletion gz_ros2_control_tests/tests/position_test.py
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Expand Up @@ -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')

Expand Down