CI: harmonic workflow: add gz bridge packages #24
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| name: ROS 2 Launch Tests | |
| on: | |
| push: | |
| branches: [main, testing] | |
| pull_request: | |
| branches: [main, testing] | |
| workflow_dispatch: | |
| env: | |
| WORLDS_DIR: /opt/jderobot | |
| ROS_DISTRO: humble | |
| jobs: | |
| launch-tests: | |
| runs-on: ubuntu-22.04 | |
| timeout-minutes: 30 | |
| steps: | |
| - name: Create checkout directory with proper permissions | |
| run: | | |
| sudo mkdir -p ${{ env.WORLDS_DIR }} | |
| sudo chmod -R 777 ${{ env.WORLDS_DIR }} | |
| - name: Checkout repository | |
| uses: actions/checkout@v3 | |
| - name: copy worlds | |
| run: | | |
| sudo cp -r ${{ github.workspace }}/Worlds ${{ env.WORLDS_DIR }} | |
| - name: Setup ROS 2 Humble | |
| run: | | |
| # Add the ROS 2 apt repository with updated key | |
| sudo apt-get update && sudo apt-get install -y curl gnupg lsb-release | |
| sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | |
| sudo apt-get update | |
| # Install ROS 2 packages | |
| sudo apt-get install -y ros-humble-ros-base python3-colcon-common-extensions | |
| - name: Install Gazebo and dependencies | |
| run: | | |
| # First install libunwind-dev to satisfy dependency requirements | |
| sudo apt-get update | |
| sudo apt-get install -y libunwind-dev | |
| # Then install the rest of the packages | |
| sudo apt-get install -y python3-pip python3-pytest-timeout python3-pytest-cov \ | |
| ros-humble-launch-testing ros-humble-launch-testing-ament-cmake \ | |
| ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros ros-humble-xacro \ | |
| ros-humble-joint-state-publisher ros-humble-robot-state-publisher \ | |
| ros-humble-nav2-msgs ros-humble-turtlebot3-msgs | |
| # Install Gazebo separately with --fix-broken option | |
| sudo apt-get install -y --fix-broken gazebo libgazebo-dev | |
| - name: Setup Python dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| if [ -f test/requirements.txt ]; then | |
| pip install -r test/requirements.txt | |
| fi | |
| pip install pytest pytest-timeout pytest-cov | |
| - name: Configure Gazebo for headless rendering | |
| run: | | |
| # Configure display for headless rendering | |
| echo "export GAZEBO_IP=127.0.0.1" >> $GITHUB_ENV | |
| echo "export OGRE_RTT_MODE=Copy" >> $GITHUB_ENV | |
| echo "export DISPLAY=:1" >> $GITHUB_ENV | |
| # Configure audio to use null devices | |
| echo "export AUDIODEV=null" >> $GITHUB_ENV | |
| echo "export SDL_AUDIODRIVER=dummy" >> $GITHUB_ENV | |
| # Create dummy ALSA config | |
| echo 'pcm.!default { type null; }' > ~/.asoundrc | |
| echo 'ctl.!default { type null; }' >> ~/.asoundrc | |
| # Set up virtual framebuffer for visual rendering | |
| sudo apt-get install -y xvfb | |
| Xvfb :1 -screen 0 1280x1024x24 & | |
| # Give Xvfb and audio config time to initialize | |
| sleep 3 | |
| - name: Build workspace | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| source /usr/share/gazebo/setup.sh | |
| colcon build --symlink-install --packages-up-to custom_robots | |
| - name: Run launch tests | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| source /usr/share/gazebo/setup.bash | |
| colcon test --packages-select custom_robots --event-handlers console_direct+ --return-code-on-test-failure | |
| - name: Show test results | |
| if: always() | |
| run: | | |
| colcon test-result --verbose |