diff --git a/.github/workflows/humble_docker_test.yaml b/.github/workflows/humble_docker_test.yaml index fb6b26b..b092c2d 100644 --- a/.github/workflows/humble_docker_test.yaml +++ b/.github/workflows/humble_docker_test.yaml @@ -1,29 +1,24 @@ -name: Humble_test_with_docker_NativeROS_string +name: buid_and_test_with_docker_NativeROS_string on: push: branches: - "main" pull_request: - types: [opened, synchronize, labeled] + types: [opened, synchronize] jobs: ci: - runs-on: ${{ matrix.os }} - if: | - ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) || - ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) || - (github.ref_name == 'main') + runs-on: ubuntu-latest container: image: osrf/ros:${{ matrix.ros_distribution }}-desktop timeout-minutes: 5 strategy: fail-fast: false matrix: - os: [ubuntu-22.04] ros_distribution: [humble] steps: - name: Checkout code - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: submodules: recursive - name: Set up Docker Buildx @@ -31,14 +26,17 @@ jobs: - name: Install Docker Compose run: sudo apt-get update && sudo apt-get install -y docker-compose - # docker-compose.yml を使ってコンテナを起動 + # runs containers using docker-compose.yml - name: Build and run containers - run: docker-compose up -d + run: | + cd workspace/test/mros2 + docker-compose up -d + cd - - name: Wait for containers to start - run: sleep 20 # コンテナが確実に起動するのを待つ時間を長くする + run: sleep 20 # wait time for container startup. - name: List running containers - run: docker ps -a # 全コンテナが起動しているか確認 - - name: Show container logs # コンテナのログを確認する + run: docker ps -a # Check if all containers are running. + - name: Show container logs run: | docker logs app1 docker logs app2 @@ -52,28 +50,28 @@ jobs: 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: | - # app2でポート8080をリスン + # Listen port 8080 on app2 docker exec -d app2 bash -c "nc -l -p 8080" - # app1からapp2へのTCP接続を確認 + # Check connection to app2 from app1 docker exec app1 bash -c "echo 'Test' | nc -w 3 172.19.0.3 8080" - # app1: ビルドの準備 (chmod +x update_ip.sh と ./update_ip.sh の実行) + # 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 # ソースコードをapp1コンテナにコピー + docker cp $GITHUB_WORKSPACE app1:/root/ws_mros # Copy source code to app1 docker exec app1 bash -c " cd /root/ws_mros && - chmod +x update_ip.sh && # 権限変更 - ./update_ip.sh" # IPアドレス更新スクリプトの実行 - # app1: クリーンビルド + chmod +x update_ip.sh && # Change grant + ./update_ip.sh" # Run script to overwrite IP address. + # app1: clean and build - name: Clean and build in mros run: | docker exec app1 bash -c " cd /root/ws_mros && pwd && ls -la && - bash build.bash clean && # クリーンアップ - bash build.bash all test_echoback_string" - # app2: のコードをコンテナにコピーしてビルド + bash build.bash clean && + bash build.bash all test/mros2/test_echoback_string" + # app2: - name: Clone Native test stub source code to app2 and build and run run: | docker exec app2 bash -c " @@ -89,21 +87,22 @@ jobs: - name: Run mROS and Native ROS shell: bash run : | - # テスト対象をバックグラウンドで実行 + # Run native ROS respondeer in background docker exec app2 bash -c "source /opt/ros/humble/setup.bash && cd mros2-host-examples && source install/setup.bash && ros2 run mros2_echoreply_string echoreply_node" & docker exec app1 bash -c "cd /root/ws_mros && ./cmake_build/mros2-posix" & - mros_pid=$! # テストプログラムのプロセスIDを取得 + mros_pid=$! # get mROS process id docker ps - # mROSが終了するまで待つ + # Wait until mROS finishes wait $mros_pid mros_status=$? - # 結果に基づいてCIの成否を判断 + + # 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 diff --git a/.github/workflows/humble_test.yaml b/.github/workflows/humble_test.yaml index 0464e49..09aca82 100644 --- a/.github/workflows/humble_test.yaml +++ b/.github/workflows/humble_test.yaml @@ -1,31 +1,27 @@ -name: ci_humble +#TODO fix file name and "name:" like "build and test" + +name: build_and_test on: push: branches: - "main" - - "feat/add_ci_config" pull_request: - types: [opened, synchronize, labeled] + types: [opened, synchronize ] jobs: - ci: - runs-on: ${{ matrix.os }} - if: | - ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) || - ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) || - (github.ref_name == 'main') + build_and_test: + runs-on: ubuntu-latest container: image: osrf/ros:${{ matrix.ros_distribution }}-desktop timeout-minutes: 3 strategy: fail-fast: false matrix: - os: [ubuntu-22.04] ros_distribution: [humble] comm-target: [native , mros] comm-data-type: [string, twist] steps: - - uses: actions/checkout@v3 + - uses: actions/checkout@v4 with: submodules: recursive - name: update @@ -35,7 +31,7 @@ jobs: 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 + uses: actions/checkout@v4 with: repository: mROS-base/mros2-host-examples path: ws_host/src/mros2-host-examples @@ -54,7 +50,7 @@ jobs: shell: bash run: | bash build.bash clean - bash build.bash all test_echoback_${{ matrix.comm-data-type }} + bash build.bash all test/mros2/test_echoback_${{ matrix.comm-data-type }} mv cmake_build/ test_echoback_${{ matrix.comm-data-type }}/ - name: Build Native ROS responder if: matrix.comm-target == 'native' @@ -68,25 +64,25 @@ jobs: shell: bash run: | bash build.bash clean - bash build.bash all test_echoback_${{ matrix.comm-data-type }}_responder + bash build.bash all test/mros2/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=$! # mROSのプロセスIDを取得 + mros_pid=$! # get mROS process id - # Native ROSをバックグラウンドで実行 + # 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 until mROS finishes wait $mros_pid mros_status=$? - # 結果に基づいてCIの成否を判断 + # Judge CI success based on results if [ $mros_status -eq 0 ] ;then echo "Succeed pub/sub test process between mros2 and Native ROS" exit 0 @@ -99,20 +95,20 @@ jobs: shell: bash run : | ./test_echoback_${{ matrix.comm-data-type }}/mros2-posix & - mros_pid=$! # テストプログラムのプロセスIDを取得 + mros_pid=$! # get mROS process id - # テスト対象をバックグラウンドで実行 + # Run mROS responder in background ./cmake_build/mros2-posix & - # mROSが終了するまで待つ + # Wait until mROS finishes wait $mros_pid mros_status=$? - # 結果に基づいてCIの成否を判断 + # Judge CI success based on results if [ $mros_status -eq 0 ] ;then - echo "Succeed pub/sub test process between mros2 and Native ROS" + echo "Succeed pub/sub test process between mros2 and mros2" exit 0 else - echo "Fail pub/sub test process between mros2 and Native ROS" + echo "Fail pub/sub test process between mros2 and mros2" exit 1 fi \ No newline at end of file diff --git a/README.md b/README.md index dd01bca..0fd8ddf 100644 --- a/README.md +++ b/README.md @@ -37,7 +37,7 @@ sudo apt-get update && sudo apt-get install -y \ libssl-dev libreadline-dev zlib1g-dev \ make autoconf automake cmake \ pkg-config curl \ - net-tools netcat jinja2 + net-tools netcat python3-jinja2 ``` Please check the IP address and netmask of the execution environment. @@ -64,6 +64,23 @@ You need to edit the below files to set IP address and netmask. * IP address and netmask to `include/netif.h` * IP address to `include/rtps/config.h` +Alternatively, you can use the provided `update_ip.sh` script to automatically update these files according to your building environment. +The `update_ip.sh` script is designed to overwrite the IP address and netmask in `include/rtps/config.h` and `include/netif.h` files based on the current network configuration. + +To use the script, make it executable and run it: + + ```bash + chmod +x update_ip.sh + ./update_ip.sh + ``` + +This script retrieves the current IP address and netmask of the system's active network interface and updates the specified files accordingly. +Make sure to check the output to ensure the updates are correct before proceeding with the build. +If multiple network interfaces are available, ensure the correct one is being used. + +For troubleshooting, verify that the script runs without errors. +If you encounter issues, check that the necessary network tools are installed and that your system has an active network connection. + ## Getting Started This section explains how to build and execute mros2-posix application as a Linux/POSIX process, using `echoback_string` as an example (please see workspace/README.md for another examples). diff --git a/update_ip.sh b/update_ip.sh index 86300c9..41cdd1a 100755 --- a/update_ip.sh +++ b/update_ip.sh @@ -1,13 +1,13 @@ #!/bin/bash -# IPアドレスを取得 +# Retrieve IP address IP_ADDRESS=$(hostname -I | awk '{print $1}') if [ -z "$IP_ADDRESS" ]; then echo "Error: Failed to retrieve IP address." exit 1 fi -# ネットマスクを取得（IPアドレスに対応するネットマスクを抽出） +# Retrieve netmask (extract the netmask corresponding to the IP address) INTERFACE=$(ip -o addr show | grep "$IP_ADDRESS" | awk '{print $2}') NETMASK=$(ip -o -f inet addr show $INTERFACE | awk '/inet/ {print $4}' | cut -d'/' -f2) if [ -z "$NETMASK" ]; then @@ -15,7 +15,7 @@ if [ -z "$NETMASK" ]; then exit 1 fi -# CIDRからネットマスクを計算 +# Calculate netmask from CIDR function cidr_to_netmask() { local cidr=$1 local mask="" @@ -41,14 +41,14 @@ function cidr_to_netmask() { NETMASK=$(cidr_to_netmask $NETMASK) echo "Retrieved Netmask for IP $IP_ADDRESS: $NETMASK" -# IPアドレスをドットで分割 +# Split the IP address by dots IFS='.' read -r -a IP_PARTS <<< "$IP_ADDRESS" -# ネットマスクをドットで分割 +# Split the netmask by dots IFS='.' read -r -a NETMASK_PARTS <<< "$NETMASK" echo "Netmask parts: ${NETMASK_PARTS[0]}, ${NETMASK_PARTS[1]}, ${NETMASK_PARTS[2]}, ${NETMASK_PARTS[3]}" -# include/rtps/config.h のIPアドレス置換 +# Replace the IP address in include/rtps/config.h echo "Running sed on include/rtps/config.h" sed -i "s/[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\}[[:space:]]*}; \ @@ -58,15 +58,15 @@ ${IP_PARTS[0]}, ${IP_PARTS[1]}, ${IP_PARTS[2]}, ${IP_PARTS[3]}};\ include/rtps/config.h -# include/netif.h のIPアドレスとネットマスク置換 +# Replace the IP address and netmask in include/netif.h sed -i 's/#define NETIF_IPADDR ".*"/#define NETIF_IPADDR "'$IP_ADDRESS'"/' include/netif.h sed -i 's/#define NETIF_NETMASK ".*"/#define NETIF_NETMASK "'$NETMASK'"/' include/netif.h -# 結果を表示して確認 +# Display the result for confirmation echo "Updated IP Address: $IP_ADDRESS" echo "Updated include/rtps/config.h:" grep -E 'Needs to be set in lwipcfg.h too.' include/rtps/config.h echo "Updated include/netif.h:" -grep -E 'NETIF_IPADDR' include/netif.h \ No newline at end of file +grep -E 'NETIF_IPADDR' include/netif.h diff --git a/workspace/test/README.md b/workspace/test/README.md index 91ffa0f..8d7f9bf 100644 --- a/workspace/test/README.md +++ b/workspace/test/README.md @@ -8,3 +8,27 @@ We plan to maintain them in the near future, as they remain useful (see #1). (embeddedRTPS and lwip-posix) * embeddedRTPS layer: [fastdds-comp](https://github.com/mROS-base/mros2-posix/tree/main/workspace/test/fastdds-comp) + + +## mros2 Directory Overview + +The `mros2` directory contains several test programs and configuration files, which are actively used in the CI testing process. Below is the structure and overview of the this directory: + +``` +mros2/ +├── docker-compose.yml +├── test_echoback_string +├── test_echoback_string_responder +├── test_echoback_twist +└── test_echoback_twist_responder +``` + +- **docker-compose.yml**: This is an experimental file that was prepared for setting up the environment, but it is currently not used in the CI process. See `.github/workflows/humble_docker_test.yaml` + +- **test_echoback_string**: A test program that sends a string message and expects an echo response, validating communication for string messages in a ROS 2 environment. It is designed to communicate with the `mros2-host-example`'s `mros2_echoreply_string` (a test for Native ROS) and `test_echoback_string_responder` (a test for mROS). The responder listens for incoming messages and sends back the received message. + +- **test_echoback_string_responder**: This program subscribes to incoming string messages and echoes them back, facilitating the echo test for string messages. + +- **test_echoback_twist**: A test program that sends a `geometry_msgs::msg::Twist` message and expects an echo response, validating communication for Twist messages in a ROS 2 environment. It communicates with the `mros2-host-example`'s `mros2_echoreply_twist` (a test for Native ROS) and `test_echoback_twist_responder` (a test for mROS). + +- **test_echoback_twist_responder**: This program subscribes to incoming Twist messages and echoes them back, facilitating the echo test for Twist messages. diff --git a/docker-compose.yml b/workspace/test/mros2/docker-compose.yml similarity index 100% rename from docker-compose.yml rename to workspace/test/mros2/docker-compose.yml diff --git a/workspace/test_echoback_string/Filelists.cmake b/workspace/test/mros2/test_echoback_string/Filelists.cmake similarity index 100% rename from workspace/test_echoback_string/Filelists.cmake rename to workspace/test/mros2/test_echoback_string/Filelists.cmake diff --git a/workspace/test_echoback_string/app.cpp b/workspace/test/mros2/test_echoback_string/app.cpp similarity index 100% rename from workspace/test_echoback_string/app.cpp rename to workspace/test/mros2/test_echoback_string/app.cpp diff --git a/workspace/test_echoback_string/templates.hpp b/workspace/test/mros2/test_echoback_string/templates.hpp similarity index 100% rename from workspace/test_echoback_string/templates.hpp rename to workspace/test/mros2/test_echoback_string/templates.hpp diff --git a/workspace/test_echoback_string_responder/Filelists.cmake b/workspace/test/mros2/test_echoback_string_responder/Filelists.cmake similarity index 100% rename from workspace/test_echoback_string_responder/Filelists.cmake rename to workspace/test/mros2/test_echoback_string_responder/Filelists.cmake diff --git a/workspace/test_echoback_string_responder/app.cpp b/workspace/test/mros2/test_echoback_string_responder/app.cpp similarity index 100% rename from workspace/test_echoback_string_responder/app.cpp rename to workspace/test/mros2/test_echoback_string_responder/app.cpp diff --git a/workspace/test_echoback_string_responder/templates.hpp b/workspace/test/mros2/test_echoback_string_responder/templates.hpp similarity index 100% rename from workspace/test_echoback_string_responder/templates.hpp rename to workspace/test/mros2/test_echoback_string_responder/templates.hpp diff --git a/workspace/test_echoback_twist/Filelists.cmake b/workspace/test/mros2/test_echoback_twist/Filelists.cmake similarity index 100% rename from workspace/test_echoback_twist/Filelists.cmake rename to workspace/test/mros2/test_echoback_twist/Filelists.cmake diff --git a/workspace/test_echoback_twist/app.cpp b/workspace/test/mros2/test_echoback_twist/app.cpp similarity index 100% rename from workspace/test_echoback_twist/app.cpp rename to workspace/test/mros2/test_echoback_twist/app.cpp diff --git a/workspace/test_echoback_twist/templates.hpp b/workspace/test/mros2/test_echoback_twist/templates.hpp similarity index 100% rename from workspace/test_echoback_twist/templates.hpp rename to workspace/test/mros2/test_echoback_twist/templates.hpp diff --git a/workspace/test_echoback_twist_responder/Filelists.cmake b/workspace/test/mros2/test_echoback_twist_responder/Filelists.cmake similarity index 100% rename from workspace/test_echoback_twist_responder/Filelists.cmake rename to workspace/test/mros2/test_echoback_twist_responder/Filelists.cmake diff --git a/workspace/test_echoback_twist_responder/app.cpp b/workspace/test/mros2/test_echoback_twist_responder/app.cpp similarity index 100% rename from workspace/test_echoback_twist_responder/app.cpp rename to workspace/test/mros2/test_echoback_twist_responder/app.cpp diff --git a/workspace/test_echoback_twist_responder/templates.hpp b/workspace/test/mros2/test_echoback_twist_responder/templates.hpp similarity index 100% rename from workspace/test_echoback_twist_responder/templates.hpp rename to workspace/test/mros2/test_echoback_twist_responder/templates.hpp