add ci config #27
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| #TODO fix file name and "name:" like build and test | |
| name: build_and_test | |
| on: | |
| push: | |
| branches: | |
| - "main" | |
| pull_request: | |
| types: [opened, synchronize ] | |
| jobs: | |
| build_and_test: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: osrf/ros:${{ matrix.ros_distribution }}-desktop | |
| timeout-minutes: 3 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distribution: [humble] | |
| comm-target: [native , mros] | |
| comm-data-type: [string, twist] | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: update | |
| run: sudo apt-get update | |
| - name: setup and install tools | |
| run: > | |
| sudo apt-get install -y iproute2 git wget build-essential gcc g++ libssl-dev libreadline-dev | |
| zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2 | |
| - name: Clone Test Stub | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: mROS-base/mros2-host-examples | |
| path: ws_host/src/mros2-host-examples | |
| - name: Update IP address | |
| run: | | |
| chmod +x update_ip.sh | |
| ./update_ip.sh | |
| - name: Generate Twist Header files | |
| if: matrix.comm-data-type == 'twist' | |
| shell: bash | |
| run: | | |
| cd workspace | |
| python3 ../mros2/mros2_header_generator/header_generator.py geometry_msgs/msg/Twist.msg | |
| cd - | |
| - name: Build mROS | |
| shell: bash | |
| run: | | |
| bash build.bash clean | |
| bash build.bash all test_echoback_${{ matrix.comm-data-type }} | |
| mv cmake_build/ test_echoback_${{ matrix.comm-data-type }}/ | |
| - name: Build Native ROS responder | |
| if: matrix.comm-target == 'native' | |
| shell: bash | |
| run: | | |
| cd ws_host/ | |
| source /opt/ros/humble/setup.bash | |
| colcon build --packages-select mros2_echoreply_${{ matrix.comm-data-type }} | |
| - name: Build mROS responder | |
| if: matrix.comm-target == 'mros' | |
| shell: bash | |
| run: | | |
| bash build.bash clean | |
| bash build.bash all test_echoback_${{ matrix.comm-data-type }}_responder | |
| - name: Run Testing mROS and Native ROS | |
| if: matrix.comm-target == 'native' | |
| shell: bash | |
| run : | | |
| ./test_echoback_${{ matrix.comm-data-type }}/mros2-posix & | |
| mros_pid=$! # get mROS process id | |
| # Run Native ROS in background | |
| cd ws_host/ | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| ros2 run mros2_echoreply_${{ matrix.comm-data-type }} echoreply_node & | |
| # mROSが終了するまで待つ | |
| wait $mros_pid | |
| mros_status=$? | |
| # 結果に基づいてCIの成否を判断 | |
| if [ $mros_status -eq 0 ] ;then | |
| echo "Succeed pub/sub test process between mros2 and Native ROS" | |
| exit 0 | |
| else | |
| echo "Fail pub/sub test process between mros2 and Native ROS" | |
| exit 1 | |
| fi | |
| - name: Run mROS and mROS | |
| if: matrix.comm-target == 'mros' | |
| shell: bash | |
| run : | | |
| ./test_echoback_${{ matrix.comm-data-type }}/mros2-posix & | |
| mros_pid=$! # テストプログラムのプロセスIDを取得 | |
| # テスト対象をバックグラウンドで実行 | |
| ./cmake_build/mros2-posix & | |
| # mROSが終了するまで待つ | |
| wait $mros_pid | |
| mros_status=$? | |
| # 結果に基づいてCIの成否を判断 | |
| if [ $mros_status -eq 0 ] ;then | |
| echo "Succeed pub/sub test process between mros2 and Native ROS" | |
| exit 0 | |
| else | |
| echo "Fail pub/sub test process between mros2 and Native ROS" | |
| exit 1 | |
| fi |