humble_docker_test.yaml

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@v4
        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