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Add follow tests using Ignition Gazebo's test fixture and run on GitH…
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| #!/bin/bash | ||
| set -ev | ||
| set -x | ||
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| # Configuration. | ||
| export COLCON_WS=~/ws | ||
| export COLCON_WS_SRC=${COLCON_WS}/src | ||
| export DEBIAN_FRONTEND=noninteractive | ||
| export ROS_PYTHON_VERSION=3 | ||
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| apt update -qq | ||
| apt install -qq -y lsb-release wget curl build-essential | ||
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| # Fortres isn't on packages.ros.org yet, so we get it from packages.osrfoundation.org | ||
| # Once it's on packages.ros.org, it can be installed with rosdep below | ||
| if [ "$IGNITION_VERSION" == "fortress" ]; then | ||
| echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list | ||
| wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add - | ||
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| IGN_DEPS="ignition-fortress" | ||
| fi | ||
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| # Tools and dependencies | ||
| echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list | ||
| curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - | ||
| apt-get update -qq | ||
| apt-get install -y $IGN_DEPS \ | ||
| python3-colcon-common-extensions \ | ||
| python3-rosdep \ | ||
| xvfb | ||
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| rosdep init | ||
| rosdep update | ||
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| # Create workspace and copy Dolly code there | ||
| mkdir -p $COLCON_WS_SRC | ||
| cp -r $GITHUB_WORKSPACE $COLCON_WS_SRC | ||
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| # Install ROS dependencies | ||
| rosdep install --from-paths $COLCON_WS_SRC -i -y -r --rosdistro $ROS_DISTRO | ||
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| # Rendering setup | ||
| Xvfb :1 -ac -noreset -core -screen 0 1280x1024x24 & | ||
| export DISPLAY=:1.0 | ||
| export MESA_GL_VERSION_OVERRIDE=3.3 | ||
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| # Build | ||
| source /opt/ros/$ROS_DISTRO/setup.bash | ||
| cd $COLCON_WS | ||
| colcon build --event-handlers console_direct+ | ||
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| # Test | ||
| colcon test --event-handlers console_direct+ --packages-select-regex dolly | ||
| colcon test-result |
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| name: Build and test | ||
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| on: [push, pull_request] | ||
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| jobs: | ||
| build_and_test: | ||
| name: Build and test | ||
| runs-on: ubuntu-latest | ||
| strategy: | ||
| matrix: | ||
| include: | ||
| - docker-image: "ubuntu:20.04" | ||
| ignition-version: "fortress" | ||
| ros-distro: "rolling" | ||
| container: | ||
| image: ${{ matrix.docker-image }} | ||
| steps: | ||
| - name: Checkout dolly | ||
| uses: actions/checkout@v2 | ||
| with: | ||
| path: main | ||
| # Compiling ros_ign from source because Rolling isn't using Fortress yet | ||
| - name: Checkout ros_ign | ||
| uses: actions/checkout@v2 | ||
| with: | ||
| repository: ignitionrobotics/ros_ign | ||
| ref: ros2 | ||
| path: ros_ign | ||
| - name: Build and test | ||
| run: main/.github/workflows/build-and-test.sh | ||
| env: | ||
| DOCKER_IMAGE: ${{ matrix.docker-image }} | ||
| IGNITION_VERSION: ${{ matrix.ignition-version }} | ||
| ROS_DISTRO: ${{ matrix.ros-distro }} |
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| __pycache__/ |
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| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
| Changelog for package dolly_tests | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
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| cmake_minimum_required(VERSION 3.5) | ||
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| project(dolly_tests) | ||
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| # Fortress | ||
| if("$ENV{IGNITION_VERSION}" STREQUAL "fortress") | ||
| find_package(ignition-gazebo6 REQUIRED) | ||
| set(IGN_GAZEBO_VER 6) | ||
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| message(STATUS "Compiling against Ignition Fortress") | ||
| # Default to Edifice | ||
| else() | ||
| find_package(ignition-gazebo5 QUIET) | ||
| set(IGN_GAZEBO_VER 5) | ||
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| if(NOT ignition-gazebo5_FOUND) | ||
| # Skip if Ignition not present | ||
| message(WARNING "Ignition Gazebo 5 or 6 not found, proceeding without that simulator.") | ||
| return() | ||
| else() | ||
| message(STATUS "Compiling against Ignition Edifice") | ||
| endif() | ||
| endif() | ||
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| find_package(ament_cmake REQUIRED) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() | ||
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| find_package(ament_cmake_gtest REQUIRED) | ||
| find_package(launch_testing_ament_cmake REQUIRED) | ||
| ament_find_gtest() | ||
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| set("PROJECT_BINARY_PATH" ${CMAKE_CURRENT_BINARY_DIR}) | ||
| set("PROJECT_SOURCE_PATH" ${CMAKE_CURRENT_SOURCE_DIR}) | ||
| configure_file(test/constants.hh.in constants.hh @ONLY) | ||
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| set(TEST_NAME follow_ignition_TEST) | ||
| ament_add_gtest_executable(${TEST_NAME} test/${TEST_NAME}.cpp) | ||
| target_link_libraries(${TEST_NAME} | ||
| ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER} | ||
| ) | ||
| include_directories(${CMAKE_CURRENT_BINARY_DIR}) | ||
| install( | ||
| TARGETS ${TEST_NAME} | ||
| DESTINATION lib/${PROJECT_NAME} | ||
| ) | ||
| add_launch_test(launch/${TEST_NAME}.launch.py | ||
| TIMEOUT 200 | ||
| ) | ||
| endif() | ||
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| install( | ||
| DIRECTORY | ||
| worlds | ||
| DESTINATION | ||
| share/${PROJECT_NAME}/ | ||
| ) | ||
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| ament_package() |
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