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Felix ExnerVinDp
Felix Exner
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VinDp
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Update CI
* Run downstream tests for ICI * Correctly name jobs * Test Jazzy driver
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‎.github/workflows/ci.yml‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -5,6 +5,7 @@ jobs:
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build:
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timeout-minutes: 30
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runs-on: ubuntu-latest
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name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
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strategy:
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matrix:
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env:
@@ -34,9 +35,9 @@ jobs:
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- name: configure
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run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON
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env:
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CXXFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
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CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
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LDFLAGS: -fprofile-arcs -ftest-coverage
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CXXFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
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CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
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LDFLAGS: -fprofile-arcs -ftest-coverage
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- name: build
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run: cmake --build build --config Debug
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- name: Create folder for test artifacts

‎.github/workflows/industrial-ci.yml‎

Lines changed: 22 additions & 91 deletions
Original file line numberDiff line numberDiff line change
@@ -2,100 +2,31 @@ name: ROS industrial ci
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on: [push, pull_request]
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jobs:
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build:
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industrial_ci:
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name: ${{matrix.ROS_DISTRO.NAME}}, ${{matrix.ROS_REPO}}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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env:
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- ROS_DISTRO: melodic
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ROS_REPO: main
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IMMEDIATE_TEST_OUTPUT: true
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DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS_Driver/master/.melodic.rosinstall"
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DOCKER_RUN_OPTS: --network ursim_net
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
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URSIM_VERSION: '5.9.4'
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ROBOT_MODEL: 'ur5e'
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PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
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- ROS_DISTRO: noetic
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ROS_REPO: main
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IMMEDIATE_TEST_OUTPUT: true
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DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS_Driver/master/.noetic.rosinstall"
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BUILDER: catkin_tools
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DOCKER_RUN_OPTS: --network ursim_net
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
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URSIM_VERSION: '5.9.4'
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ROBOT_MODEL: 'ur5e'
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PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
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- ROS_DISTRO: galactic
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ROS_REPO: main
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IMMEDIATE_TEST_OUTPUT: true
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DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#galactic"
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DOCKER_RUN_OPTS: --network ursim_net
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
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URSIM_VERSION: '5.9.4'
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ROBOT_MODEL: 'ur5e'
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PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
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NOT_TEST_DOWNSTREAM: true
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- ROS_DISTRO: humble
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ROS_REPO: main
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IMMEDIATE_TEST_OUTPUT: true
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DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#humble https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/humble/Universal_Robots_ROS2_Driver-not-released.humble.repos"
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DOCKER_RUN_OPTS: --network ursim_net
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
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URSIM_VERSION: '5.9.4'
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ROBOT_MODEL: 'ur5e'
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PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
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NOT_TEST_DOWNSTREAM: true
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- ROS_DISTRO: iron
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ROS_REPO: main
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IMMEDIATE_TEST_OUTPUT: true
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DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#iron https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/iron/Universal_Robots_ROS2_Driver-not-released.iron.repos"
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DOCKER_RUN_OPTS: --network ursim_net
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
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URSIM_VERSION: '5.9.4'
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ROBOT_MODEL: 'ur5e'
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PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
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NOT_TEST_DOWNSTREAM: true
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- ROS_DISTRO: rolling
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ROS_REPO: main
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IMMEDIATE_TEST_OUTPUT: true
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DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/main/Universal_Robots_ROS2_Driver-not-released.rolling.repos"
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DOCKER_RUN_OPTS: --network ursim_net
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BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
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URSIM_VERSION: '5.9.4'
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ROBOT_MODEL: 'ur5e'
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PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
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NOT_TEST_DOWNSTREAM: true
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ROS_DISTRO:
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- {NAME: noetic, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS_Driver/master/.noetic.rosinstall"}
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- {NAME: humble, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#humble"}
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- {NAME: iron, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#iron"}
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- {NAME: jazzy, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main"}
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- {NAME: rolling, DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main"}
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ROS_REPO:
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- main
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- testing
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env:
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DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net'
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steps:
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- uses: actions/checkout@v1
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- name: start ursim
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run: |
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scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d
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env: ${{matrix.env}}
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- uses: actions/checkout@v4
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- run: docker network create --subnet=192.168.56.0/24 ursim_net
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}
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- name: Generate URSim log files
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if: always()
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run: |
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nc -q 1 192.168.56.101 29999 <<END
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saveLog
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END
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mkdir -p ursim_logs
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docker cp ursim:/ursim/URControl.log ursim_logs/URControl.log
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docker cp ursim:/ursim/polyscope.log ursim_logs/polyscope.log
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docker cp ursim:/ursim/log_history.txt ursim_logs/log_history.txt
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- name: Copy flight reports
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if: failure()
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run: |
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mkdir -p ursim_logs/flightreports
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docker cp ursim:/ursim/flightreports/. ursim_logs/flightreports/
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- name: Upload logfiles
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uses: actions/upload-artifact@v3
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if: always()
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with:
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name: ${{matrix.env.ROS_DISTRO}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs
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path: ursim_logs
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if-no-files-found: error
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retention-days: 10
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env:
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IMMEDIATE_TEST_OUTPUT: true
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DOWNSTREAM_CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
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ADDITIONAL_DEBS: docker.io netcat-openbsd # Needed for integration tests
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DOWNSTREAM_WORKSPACE: ${{matrix.ROS_DISTRO.DOWNSTREAM_WORKSPACE}}
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ROS_DISTRO: ${{matrix.ROS_DISTRO.NAME}}
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ROS_REPO: ${{matrix.ROS_REPO}}

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