add ci config #13
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| name: buid_and_test_with_docker_NativeROS_string | |
| on: | |
| push: | |
| branches: | |
| - "main" | |
| pull_request: | |
| types: [opened, synchronize] | |
| jobs: | |
| ci: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: osrf/ros:${{ matrix.ros_distribution }}-desktop | |
| timeout-minutes: 5 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distribution: [humble] | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v1 | |
| - name: Install Docker Compose | |
| run: sudo apt-get update && sudo apt-get install -y docker-compose | |
| # runs containers using docker-compose.yml | |
| - name: Build and run containers | |
| run: | | |
| cd workspace/test/mros2 | |
| docker-compose up -d | |
| cd - | |
| - name: Wait for containers to start | |
| run: sleep 20 # wait time for container startup. | |
| - name: List running containers | |
| run: docker ps -a # Check if all containers are running. | |
| - name: Show container logs | |
| run: | | |
| docker logs app1 | |
| docker logs app2 | |
| - name: Show IP addresses | |
| run: | | |
| docker exec app1 ip addr show eth0 | |
| docker exec app2 ip addr show eth0 | |
| - name: Test communication between containers (ping) | |
| run: | | |
| docker exec app1 ping -c 4 172.19.0.3 # app1 から app2 へのPing | |
| docker exec app2 ping -c 4 172.19.0.2 # app2 から app1 へのPing | |
| - name: Test TCP connection between containers (netcat) | |
| run: | | |
| # Listen port 8080 on app2 | |
| docker exec -d app2 bash -c "nc -l -p 8080" | |
| # Check connection to app2 from app1 | |
| docker exec app1 bash -c "echo 'Test' | nc -w 3 172.19.0.3 8080" | |
| # app1: prepare build (run chmod +x update_ip.sh and ./update_ip.sh) | |
| - name: Prepare build in mros | |
| run: | | |
| docker cp $GITHUB_WORKSPACE app1:/root/ws_mros # Copy source code to app1 | |
| docker exec app1 bash -c " | |
| cd /root/ws_mros && | |
| chmod +x update_ip.sh && # Change grant | |
| ./update_ip.sh" # Run script to overwrite IP address. | |
| # app1: clean and build | |
| - name: Clean and build in mros | |
| run: | | |
| docker exec app1 bash -c " | |
| cd /root/ws_mros && | |
| pwd && | |
| ls -la && | |
| bash build.bash clean && | |
| bash build.bash all test/mros2/test_echoback_string" | |
| # app2: | |
| - name: Clone Native test stub source code to app2 and build and run | |
| run: | | |
| docker exec app2 bash -c " | |
| source /opt/ros/humble/setup.bash && | |
| cd && | |
| pwd && | |
| ls -la && | |
| git clone https://github.com/mROS-base/mros2-host-examples && | |
| cd mros2-host-examples && | |
| colcon build --packages-select mros2_echoreply_string && | |
| ls -la && | |
| source install/setup.bash" | |
| - name: Run mROS and Native ROS | |
| shell: bash | |
| run : | | |
| # Run native ROS respondeer in background | |
| docker exec app2 bash -c "source /opt/ros/humble/setup.bash && | |
| cd mros2-host-examples && | |
| source install/setup.bash && | |
| ros2 run mros2_echoreply_string echoreply_node" & | |
| docker exec app1 bash -c "cd /root/ws_mros && ./cmake_build/mros2-posix" & | |
| mros_pid=$! # get mROS process id | |
| docker ps | |
| # Wait until mROS finishes | |
| wait $mros_pid | |
| mros_status=$? | |
| # Judge CI success based on results | |
| 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: Tear down containers | |
| run: docker-compose down |