ros2_gz_harmonic_launch_tests.yaml

name: ROS 2 Launch Tests (Gazebo Harmonic)

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 }}
                  sudo cp -r ${{ github.workspace }}/jderobot_drones ${{ 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: "Setup Gazebo"
              uses: gazebo-tooling/setup-gazebo@v0.3.0
              with:
                  required-gazebo-distributions: harmonic
            - name: "Test Gazebo installation"
              run: "gz sim --versions"

            # - name: Install Gazebo and dependencies
            #   run: |
            #       # First install libunwind-dev to satisfy the  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: Install Gazebo Harmonic and dependencies
              run: |
                  sudo apt-get install -y ros-humble-xacro ros-humble-ros-gz-sim
                  sudo apt remove ros-humble-ros-gzharmonic-bridge ros-humble-ros-gzharmonic-interfaces ros-humble-ros-gzharmonic-sim
                  sudo apt-get install ros-humble-as2-gazebo-assets ros-humble-as2-platform-gazebo ros-humble-ros-gz-image
                  sudo apt-get install -y ros-humble-as2-gazebo-assets ros-humble-as2-state-estimator 
                  sudo apt-get install -y ros-humble-as2-motion-controller ros-humble-as2-behaviors-motion

            - name: Install Gazebo classic and resolve version conflicts
              run: |
                  sudo add-apt-repository ppa:openrobotics/gazebo11-gz-cli
                  sudo apt update
                  sudo apt-get install gazebo11

                  # Resolve version conflicts
                  sudo apt-get remove libgazebo11
                  sudo apt-get install libgazebo11=11.10.2+dfsg-1
                  sudo apt-get install libgazebo-dev

            - name: "Test Gazebo installation"
              run: "gz sim --versions"

            - name: Rename Launch Files
              run: |
                  sudo mv /opt/ros/humble/share/as2_state_estimator/launch/ground_truth_state_estimator.launch.py /opt/ros/humble/share/as2_state_estimator/launch/ground_truth-state_estimator.launch.py
                  sudo mv /opt/ros/humble/share/as2_motion_controller/launch/pid_speed_controller.launch.py /opt/ros/humble/share/as2_motion_controller/launch/pid_speed_controller-motion_controller.launch.py

            - 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: add only Harmonic tests to ros package
              run: sed -i 's|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/test\*\.py")|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/harmonic/test_*.py")|' CustomRobots/CMakeLists.txt

            - name: Build workspace
              run: |
                  source /opt/ros/humble/setup.bash
                  colcon build --symlink-install

            - name: Run launch tests
              run: |
                  source /opt/ros/humble/setup.bash
                  source install/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