Run tests headless with EGL (#41)

Signed-off-by: Louise Poubel <[email protected]>

.github/workflows/build-and-test.sh

@@ -8,6 +8,10 @@ export COLCON_WS_SRC=${COLCON_WS}/src
 export DEBIAN_FRONTEND=noninteractive
 export ROS_PYTHON_VERSION=3
 
+# For headless rendering
+export DISPLAY=:1.0
+export MESA_GL_VERSION_OVERRIDE=3.3
+
 apt update -qq
 apt install -qq -y lsb-release wget curl build-essential
 
@@ -26,8 +30,7 @@ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key
 apt-get update -qq
 apt-get install -y $IGN_DEPS \
                    python3-colcon-common-extensions \
-                   python3-rosdep \
-                   xvfb
+                   python3-rosdep
 
 rosdep init
 rosdep update
@@ -39,11 +42,6 @@ cp -r $GITHUB_WORKSPACE $COLCON_WS_SRC
 # Install ROS dependencies
 rosdep install --from-paths $COLCON_WS_SRC -i -y -r --rosdistro $ROS_DISTRO
 
-# Rendering setup
-Xvfb :1 -ac -noreset -core -screen 0 1280x1024x24 &
-export DISPLAY=:1.0
-export MESA_GL_VERSION_OVERRIDE=3.3
-
 # Build
 source /opt/ros/$ROS_DISTRO/setup.bash
 cd $COLCON_WS

dolly_tests/test/follow_ignition_TEST.cpp

@@ -41,8 +41,12 @@ TEST(DollyTests, Follow)
 
   // Instantiate test fixture. It starts a simulation server and provides
   // hooks that we'll use to inspect the running simulation.
-  ignition::gazebo::TestFixture fixture(ignition::common::joinPaths(
+  ignition::gazebo::ServerConfig config;
+  config.SetSdfFile(ignition::common::joinPaths(
       std::string(PROJECT_SOURCE_PATH), "worlds", "empty.sdf"));
+  config.SetHeadlessRendering(true);
+
+  ignition::gazebo::TestFixture fixture(config);
 
   // Variables that will be populated during the simulation
   int iterations{0};