Make CI capable to run with urcap

Author: urfeex

.github/workflows/ci.yml

@@ -10,36 +10,30 @@ jobs:
   build:
     timeout-minutes: 30
     runs-on: ubuntu-latest
-    name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
+    name: build (${{matrix.URSIM_VERSION}}-${{matrix.ROBOT_MODEL}})
     strategy:
       fail-fast: false
       matrix:
-        env:
-          - DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            CTEST_OUTPUT_ON_FAILURE: 1
-            ROBOT_MODEL: 'ur5'
-            URSIM_VERSION: '3.14.3'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
-          - DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            CTEST_OUTPUT_ON_FAILURE: 1
-            ROBOT_MODEL: 'ur5e'
-            URSIM_VERSION: '5.9.4'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
-          - DOCKER_RUN_OPTS: --network ursim_net
-            BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
-            CTEST_OUTPUT_ON_FAILURE: 1
-            ROBOT_MODEL: 'ur20'
-            URSIM_VERSION: 'latest'
-            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+        - ROBOT_MODEL: 'ur5'
+          URSIM_VERSION: '3.14.3'
+          PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
+        - ROBOT_MODEL: 'ur5e'
+          URSIM_VERSION: '5.9.4'
+          PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+        - ROBOT_MODEL: 'ur20'
+          URSIM_VERSION: 'latest'
+          PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
 
     steps:
       - uses: actions/checkout@v4
       - name: start ursim
         run: |
           scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d
-        env: ${{matrix.env}}
+        env:
+          DOCKER_RUN_OPTS: --network ursim_net
+          ROBOT_MODEL: ${{matrix.ROBOT_MODEL}}
+          URSIM_VERSION: ${{matrix.URSIM_VERSION}}
+          PROGRAM_FOLDER: ${{matrix.PROGRAM_FOLDER}}
       - name: configure
         run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON
         env:
@@ -82,15 +76,15 @@ jobs:
         uses: actions/upload-artifact@v4
         if: always()
         with:
-          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs
+          name: ${{matrix.ROBOT_MODEL}}_${{matrix.URSIM_VERSION}}_URSim_Logs
           path: ursim_logs
           if-no-files-found: error
           retention-days: 10
       - name: Upload test artifacts
         uses: actions/upload-artifact@v4
         if: always()
         with:
-          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_test_artifacts
+          name: ${{matrix.ROBOT_MODEL}}_${{matrix.URSIM_VERSION}}_test_artifacts
           path: test_artifacts
           if-no-files-found: error
           retention-days: 10

scripts/start_ursim.sh

@@ -51,7 +51,7 @@ help()
                    If not specified, will fallback to ${PERSISTENT_BASE}/${ROBOT_SERIES}/urcaps"
   echo "    -n             Name of the docker container. Defaults to '$CONTAINER_NAME'"
   echo "    -i             IP address the container should get. Defaults to $IP_ADDRESS"
-  echo "    -d             Detached mode - start in backgound"
+  echo "    -d             Detached mode - start in background"
   echo "    -f             Specify port forwarding to use. Defaults to '$PORT_FORWARDING'. Set to empty string to disable port forwarding."
   echo "    -h             Print this Help."
   echo