add test between each type.

mROS-base · Sep 24, 2024 · d2da99e · d2da99e
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diff --git a/.github/workflows/humble_test_mros_to_mros_string.yaml b/.github/workflows/humble_test_mros_to_mros_string.yaml
@@ -0,0 +1,75 @@
+name: Humble_test_mros_to_mros_String
+
+on:
+  push:
+    branches:
+      - "main"
+      - "feat/add_ci_config"
+  pull_request:
+    types: [opened, synchronize, labeled]
+jobs:
+  ci:
+    runs-on: ${{ matrix.os }}
+    if: |
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'main')
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+    timeout-minutes: 3
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04]
+        ros_distribution: [humble]
+    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 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: Run IP update script
+        run: |
+          chmod +x update_ip.sh
+          ./update_ip.sh
+      - name: Build echoback mROS
+        shell: bash
+        run: |
+          bash build.bash clean
+          bash build.bash all test_echoback_string
+          mv cmake_build/ test_echoback_string/
+      - name: Build reply mROS
+        shell: bash
+        run: |
+          bash build.bash clean
+          bash build.bash all test_echoback_string_responder
+      - name: Run mROS and Native ROS
+        shell: bash
+        run : |
+            ./test_echoback_string/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
diff --git a/.github/workflows/humble_test_mros_to_mros_twist.yaml b/.github/workflows/humble_test_mros_to_mros_twist.yaml
@@ -0,0 +1,75 @@
+name: Humble_test_mros_to_mros_String
+
+on:
+  push:
+    branches:
+      - "main"
+      - "feat/add_ci_config"
+  pull_request:
+    types: [opened, synchronize, labeled]
+jobs:
+  ci:
+    runs-on: ${{ matrix.os }}
+    if: |
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'main')
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+    timeout-minutes: 3
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04]
+        ros_distribution: [humble]
+    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 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: Run IP update script
+        run: |
+          chmod +x update_ip.sh
+          ./update_ip.sh
+      - name: Build echoback mROS
+        shell: bash
+        run: |
+          bash build.bash clean
+          bash build.bash all test_echoback_twist
+          mv cmake_build/ cmake_build_test_echoback_twist/
+      - name: Build reply mROS
+        shell: bash
+        run: |
+          bash build.bash clean
+          bash build.bash all test_echoback_twist_responder
+      - name: Run mROS and Native ROS
+        shell: bash
+        run : |
+            ./cmake_build_test_echoback_twist/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
diff --git a/.github/workflows/humble_test_with_nativeROS_string.yaml b/.github/workflows/humble_test_with_nativeROS_string.yaml
@@ -0,0 +1,78 @@
+name: Humble_test_with_nativeROS_String
+
+on:
+  push:
+    branches:
+      - "main"
+      - "feat/add_ci_config"
+  pull_request:
+    types: [opened, synchronize, labeled]
+jobs:
+  ci:
+    runs-on: ${{ matrix.os }}
+    if: |
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'main')
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+    timeout-minutes: 3
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04]
+        ros_distribution: [humble]
+    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 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: Run IP update script
+        run: |
+          chmod +x update_ip.sh
+          ./update_ip.sh
+      - name: Build mROS
+        shell: bash
+        run: |
+          bash build.bash clean
+          bash build.bash all test_echoback_string
+      - name: Build Native ROS
+        shell: bash
+        run: |
+          cd ws_host/
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-select mros2_echoreply_string
+      - name: Run mROS and Native ROS
+        shell: bash
+        run : |
+            ./cmake_build/mros2-posix &
+            mros_pid=$!  # mROSのプロセスIDを取得
+
+            # Native ROSをバックグラウンドで実行
+            cd ws_host/
+            source /opt/ros/humble/setup.bash
+            source install/setup.bash
+            ros2 run mros2_echoreply_string 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
diff --git a/.github/workflows/humble_test_with_nativeROS_twist.yaml b/.github/workflows/humble_test_with_nativeROS_twist.yaml
@@ -0,0 +1,86 @@
+name: Humble_test_with_nativeROS_twist
+
+on:
+  push:
+    branches:
+      - "main"
+      - "feat/add_ci_config"
+  pull_request:
+    types: [opened, synchronize, labeled]
+jobs:
+  ci:
+    runs-on: ${{ matrix.os }}
+    if: |
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'main')
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+    timeout-minutes: 3
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04]
+        ros_distribution: [humble]
+    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 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: Run IP update script
+        run: |
+          chmod +x update_ip.sh
+          ./update_ip.sh
+      - name: Generate Header files
+        shell: bash
+        run: |
+          cd workspace
+          python3 ../mros2/mros2_header_generator/header_generator.py geometry_msgs/msg/Twist.msg
+          cd -
+      - name: Build mROS Programs
+        shell: bash
+        run: |
+          pwd
+          ls -la
+          bash build.bash clean
+          bash build.bash all test_echoback_twist
+      - name: Build Native ROS
+        shell: bash
+        run: |
+          cd ws_host/
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-select mros2_echoreply_twist
+      - name: Run mROS and Native ROS
+        shell: bash
+        run : |
+            ./cmake_build/mros2-posix &
+            mros_pid=$!  # mROSのプロセスIDを取得
+
+            # Native ROSをバックグラウンドで実行
+            cd ws_host/
+            source /opt/ros/humble/setup.bash
+            source install/setup.bash
+            ros2 run mros2_echoreply_twist 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 [ $mros_status -eq 0 ] ;then
+              echo "Succeed pub/sub test process between mros2 and Native ROS"
+              exit 0
+            else
+              echo "Fail pub/sub test process between mros2 and Native ROS"
+              exit 1
+            fi
diff --git a/update_ip.sh b/update_ip.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# IPアドレスを取得
+IP_ADDRESS=$(hostname -I | awk '{print $1}')
+
+# IPアドレスをドットで分割
+IFS='.' read -r -a IP_PARTS <<< "$IP_ADDRESS"
+
+# include/rtps/config.h のIPアドレス置換
+
+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:]]*}; \
+\/\/ Needs to be set in lwipcfg.h too./\
+${IP_PARTS[0]}, ${IP_PARTS[1]}, ${IP_PARTS[2]}, ${IP_PARTS[3]}};\
+\/\/ Needs to be set in lwipcfg.h too./" \
+include/rtps/config.h
+# 変更結果を確認
+
+# include/netif.h のIPアドレス置換
+sed -i 's/#define NETIF_IPADDR ".*"/#define NETIF_IPADDR "'$IP_ADDRESS'"/' include/netif.h
+
+# 結果を表示して確認
+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
diff --git a/workspace/test_echoback_string/Filelists.cmake b/workspace/test_echoback_string/Filelists.cmake
@@ -0,0 +1,3 @@
+set(apl_SRCS
+	${PROJECT_SOURCE_DIR}/workspace/${MROS2_APPNAME}/app.cpp
+)