MoveIt Pro Reusable CI Jobs

This repo showcases an example of integrating end-to-end CI jobs for MoveIt Pro applications, including workspace objective validation and intergration tests with the MoveIt Pro Runtime.

Usage

In your main workflow file, to test all packages in your workspace sequentially in a container, you can use the following job definition:

jobs:
  integration-test-in-studio-container:
    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@<version-chosen>
    with:
      image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
      colcon_test_args: "--executor sequential"
    secrets: inherit

To test packages in your workspace in parallel in a container, you can utilize a matrix with the config_package input like in the following job definition:

jobs:
  integration-test-in-studio-container:
    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@fix-artifact-upload
    strategy:
      fail-fast: false
      matrix:
        config_package: [lab_sim, hangar_sim, grinding_sim, factory_sim, space_satellite_sim, mock_sim]
    with:
      image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
      colcon_test_args: "--executor sequential"
      config_package: ${{ matrix.config_package }}
    secrets: inherit

All input args:

• image_tag: The tag of the MoveIt Pro container image to use for the job. This can be set to the branch name or a specific tag version (example: 8.1.0).
  • Note: we recommend creating branch names that match the MoveIt Pro container image tags, such as 8.1.0, 8.2.0, etc for your versioned out production robot applications.
• config_package: The name of the MoveIt Pro config package to test. This is only required when using a matrix to run tests in parallel.
• colcon_build_args: Additional colcon arguments to pass to the colcon build command. - colcon_test_args: Additional colcon arguments to pass to the colcon test command.