Release/2.14.0 #2113
Workflow file for this run
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| name: ROS industrial ci | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| branches: | |
| - master | |
| jobs: | |
| industrial_ci: | |
| name: ${{matrix.ROS_DISTRO.NAME}}, ${{matrix.ROS_REPO}} | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ROS_DISTRO: | |
| - NAME: noetic | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master" | |
| - NAME: humble | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#humble" | |
| - NAME: jazzy | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#jazzy" | |
| - NAME: kilted | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#kilted" | |
| - NAME: lyrical | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main" | |
| - NAME: rolling | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main" | |
| CLANG_TIDY: pedantic | |
| OS_CODE_NAME: "resolute" | |
| ROS_REPO: | |
| - main | |
| - testing | |
| env: | |
| # /tmp/ur_test_artifacts: collection point for test artifacts (e.g. VNC | |
| # snapshots) written from inside the ICI container. | |
| # /tmp/ursim_urcaps: shared storage for the External Control URCap. | |
| # Mounted at the same path in the ICI container AND used as the bind | |
| # source for the URSim container that start_ursim.sh launches via the | |
| # host docker daemon, so the URCap downloaded inside the ICI container | |
| # is actually visible to URSim's /urcaps mount. | |
| # Both paths are kept outside ${{ github.workspace }} so they do not | |
| # collide with industrial_ci's read-only bind-mount of TARGET_REPO_PATH. | |
| DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock -v /tmp/ur_test_artifacts:/test_artifacts -v /tmp/ursim_urcaps:/tmp/ursim_urcaps -e UR_TEST_ARTIFACTS_DIR=/test_artifacts -e UR_CI_URCAP_FOLDER=/tmp/ursim_urcaps --network ursim_net --ip 192.168.56.1' | |
| steps: | |
| - uses: actions/checkout@v7 | |
| - run: docker network create --subnet=192.168.56.0/24 --gateway 192.168.56.254 ursim_net | |
| if: ${{ !env.ACT }} | |
| - name: Create shared host directories | |
| run: | | |
| mkdir -p /tmp/ur_test_artifacts /tmp/ursim_urcaps | |
| # Allow the container (running as root) to write here while keeping | |
| # the directory readable by the runner user for upload-artifact, and | |
| # writable by the host docker daemon when it bind-mounts /tmp/ursim_urcaps | |
| # into the URSim container. | |
| chmod 777 /tmp/ur_test_artifacts /tmp/ursim_urcaps | |
| - uses: 'ros-industrial/industrial_ci@master' | |
| env: | |
| IMMEDIATE_TEST_OUTPUT: true | |
| DOWNSTREAM_CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON | |
| ADDITIONAL_DEBS: docker.io netcat-openbsd # Needed for integration tests | |
| DOWNSTREAM_WORKSPACE: ${{matrix.ROS_DISTRO.DOWNSTREAM_WORKSPACE}} | |
| ROS_DISTRO: ${{matrix.ROS_DISTRO.NAME}} | |
| ROS_REPO: ${{matrix.ROS_REPO}} | |
| CLANG_TIDY: ${{matrix.ROS_DISTRO.CLANG_TIDY}} | |
| OS_CODE_NAME: ${{matrix.ROS_DISTRO.OS_CODE_NAME}} | |
| - name: Upload test artifacts | |
| if: ${{ always() }} | |
| uses: actions/upload-artifact@v7 | |
| with: | |
| name: ur_test_artifacts-${{matrix.ROS_DISTRO.NAME}}-${{matrix.ROS_REPO}} | |
| path: /tmp/ur_test_artifacts |