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CI: add gazebo harmonic testing workflow
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‎.github/workflows/ros2_gz_harmonic_launch_tests.yaml‎

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name: ROS 2 Launch Tests
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on:
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push:
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branches: [main, testing]
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pull_request:
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branches: [main, testing]
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workflow_dispatch:
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env:
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WORLDS_DIR: /opt/jderobot
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ROS_DISTRO: humble
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jobs:
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launch-tests:
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runs-on: ubuntu-22.04
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timeout-minutes: 30
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steps:
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- name: Create checkout directory with proper permissions
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run: |
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sudo mkdir -p ${{ env.WORLDS_DIR }}
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sudo chmod -R 777 ${{ env.WORLDS_DIR }}
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- name: Checkout repository
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uses: actions/checkout@v3
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- name: copy worlds
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run: |
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sudo cp -r ${{ github.workspace }}/Worlds ${{ env.WORLDS_DIR }}
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- name: Setup ROS 2 Humble
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run: |
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# Add the ROS 2 apt repository with updated key
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sudo apt-get update && sudo apt-get install -y curl gnupg lsb-release
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(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
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sudo apt-get update
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# Install ROS 2 packages
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sudo apt-get install -y ros-humble-ros-base python3-colcon-common-extensions
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- name: "Setup Gazebo"
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uses: gazebo-tooling/setup-gazebo@v0.3.0
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with:
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required-gazebo-distributions: harmonic
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- name: "Test Gazebo installation"
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run: "gz sim --versions"
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# - name: Install Gazebo and dependencies
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# run: |
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# # First install libunwind-dev to satisfy dependency requirements
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# sudo apt-get update
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# sudo apt-get install -y libunwind-dev
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# # Then install the rest of the packages
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# sudo apt-get install -y python3-pip python3-pytest-timeout python3-pytest-cov \
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# ros-humble-launch-testing ros-humble-launch-testing-ament-cmake \
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# ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros ros-humble-xacro \
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# ros-humble-joint-state-publisher ros-humble-robot-state-publisher \
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# ros-humble-nav2-msgs ros-humble-turtlebot3-msgs
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# # Install Gazebo separately with --fix-broken option
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# sudo apt-get install -y --fix-broken gazebo libgazebo-dev
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- name: Setup Python dependencies
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run: |
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python -m pip install --upgrade pip
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if [ -f test/requirements.txt ]; then
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pip install -r test/requirements.txt
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fi
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pip install pytest pytest-timeout pytest-cov
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- name: Configure Gazebo for headless rendering
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run: |
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# Configure display for headless rendering
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echo "export GAZEBO_IP=127.0.0.1" >> $GITHUB_ENV
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echo "export OGRE_RTT_MODE=Copy" >> $GITHUB_ENV
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echo "export DISPLAY=:1" >> $GITHUB_ENV
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# Configure audio to use null devices
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echo "export AUDIODEV=null" >> $GITHUB_ENV
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echo "export SDL_AUDIODRIVER=dummy" >> $GITHUB_ENV
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# Create dummy ALSA config
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echo 'pcm.!default { type null; }' > ~/.asoundrc
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echo 'ctl.!default { type null; }' >> ~/.asoundrc
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# Set up virtual framebuffer for visual rendering
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sudo apt-get install -y xvfb
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Xvfb :1 -screen 0 1280x1024x24 &
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# Give Xvfb and audio config time to initialize
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sleep 3
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- name: add only Harmonic tests to ros package
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run: sed -i 's|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/test\*\.py")|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/harmonic/test_*.py")|' CustomRobots/CMakeLists.txt
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- name: Build workspace
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run: |
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source /opt/ros/humble/setup.bash
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source /usr/share/gazebo/setup.sh
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colcon build --symlink-install --packages-up-to custom_robots
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- name: Run launch tests
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run: |
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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source /usr/share/gazebo/setup.bash
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colcon test --packages-select custom_robots --event-handlers console_direct+ --return-code-on-test-failure
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- name: Show test results
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if: always()
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run: |
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colcon test-result --verbose

test/test_follow_road.py renamed to test/harmonic/test_follow_road.py

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# Get absolute path to the launcher
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launcher_path = os.path.join(
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os.path.dirname(os.path.dirname(os.path.abspath(__file__))),
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"..",
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"Launchers",
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"follow_road.launch.py",
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)
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@classmethod
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def setUpClass(cls):
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"""Set up ROS node for testing."""
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# Skip all tests if the env var not is set (e.g., IS_HARMONIC=0)
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if os.environ.get("IS_HARMONIC", "0") == "0":
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raise unittest.SkipTest("Skipping non-harmonic tests due to IS_HARMONIC=0")
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rclpy.init()
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cls.node = rclpy.create_node("test_node")
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