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urrskurrsk
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Change to URSim docker image
Instead of building one in the CI we now uses the image made by UR
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9 files changed

+28
-18
lines changed

9 files changed

+28
-18
lines changed

‎.github/workflows/ci.yml‎

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -3,24 +3,27 @@ on: [push, pull_request]
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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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strategy:
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matrix:
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env:
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- DOCKER_RUN_OPTS: --network static_test_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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CTEST_OUTPUT_ON_FAILURE: 1
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URSIM_VERSION: 3.14.1.1031110
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URSIM_DOCKER_IMAGE: 'universalrobots/ursim_cb3:3.12.1'
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PROGRAM_FOLDER: 'programs/cb3'
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- DOCKER_RUN_OPTS: --network static_test_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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CTEST_OUTPUT_ON_FAILURE: 1
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URSIM_VERSION: 5.8.0.10253
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URSIM_DOCKER_IMAGE: 'universalrobots/ursim_e-series:5.5.1'
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PROGRAM_FOLDER: 'programs/e-series'
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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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tests/resources/dockerursim/build_and_run_docker_ursim.sh $URSIM_VERSION
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tests/resources/dockerursim/build_and_run_docker_ursim.sh $URSIM_DOCKER_IMAGE $PROGRAM_FOLDER
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env: ${{matrix.env}}
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- name: install gtest
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run: sudo apt-get install -y libgtest-dev

‎.github/workflows/industrial-ci.yml‎

Lines changed: 13 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -25,53 +25,59 @@ jobs:
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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 static_test_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: 5.8.0.10253
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URSIM_DOCKER_IMAGE: 'universalrobots/ursim_e-series:5.5.1'
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PROGRAM_FOLDER: '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 static_test_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: 5.8.0.10253
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URSIM_DOCKER_IMAGE: 'universalrobots/ursim_e-series:5.5.1'
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PROGRAM_FOLDER: 'programs/e-series'
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- ROS_DISTRO: foxy
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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#foxy"
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DOCKER_RUN_OPTS: --network static_test_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'
43-
URSIM_VERSION: 5.8.0.10253
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URSIM_DOCKER_IMAGE: 'universalrobots/ursim_e-series:5.5.1'
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PROGRAM_FOLDER: 'programs/e-series'
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NOT_TEST_DOWNSTREAM: true
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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 static_test_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: 5.8.0.10253
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URSIM_DOCKER_IMAGE: 'universalrobots/ursim_e-series:5.5.1'
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PROGRAM_FOLDER: '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#main https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/main/Universal_Robots_ROS2_Driver-not-released.humble.repos"
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DOCKER_RUN_OPTS: --network static_test_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'
59-
URSIM_VERSION: 5.8.0.10253
63+
URSIM_DOCKER_IMAGE: 'universalrobots/ursim_e-series:5.5.1'
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PROGRAM_FOLDER: '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 static_test_net
6671
BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101'
67-
URSIM_VERSION: 5.8.0.10253
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URSIM_DOCKER_IMAGE: 'universalrobots/ursim_e-series:5.5.1'
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PROGRAM_FOLDER: 'programs/e-series'
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NOT_TEST_DOWNSTREAM: true
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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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tests/resources/dockerursim/build_and_run_docker_ursim.sh $URSIM_VERSION
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tests/resources/dockerursim/build_and_run_docker_ursim.sh $URSIM_DOCKER_IMAGE $PROGRAM_FOLDER
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env: ${{matrix.env}}
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}

‎tests/resources/dockerursim/build_and_run_docker_ursim.sh‎

Lines changed: 6 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1,21 +1,19 @@
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#!/bin/bash
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
4-
URSIM_VERSION="${1:-5.8.0.10253}"
4+
URSIM_DOCKER_IMAGE=${1}
5+
PROGRAM_FOLDER=${2}
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docker network create --subnet=192.168.56.0/24 static_test_net
78

8-
docker build ${DIR} -t mydockerursim --build-arg VERSION="${URSIM_VERSION}"
9-
docker volume create dockerursim
10-
docker run --name="mydockerursim" -d \
11-
-e ROBOT_MODEL=UR5 \
9+
docker run --rm -it -d \
10+
--name ursim \
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--net static_test_net \
1312
--ip 192.168.56.101 \
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-p 8080:8080 \
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-p 29999:29999 \
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-p 30001-30004:30001-30004 \
17-
-v "${DIR}/.vol":/ursim/programs \
18-
-v dockursim:/ursim \
16+
-v "${DIR}/${PROGRAM_FOLDER}":/ursim/programs \
1917
--privileged \
2018
--cpus=1 \
21-
mydockerursim
19+
${URSIM_DOCKER_IMAGE}

‎tests/resources/dockerursim/programs/cb3/default.installation‎

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‎tests/resources/dockerursim/programs/cb3/default.variables‎

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#
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#Thu Oct 20 15:39:24 CEST 2022

‎tests/resources/dockerursim/programs/cb3/programs.UR5‎

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/ursim/programs.UR5

‎tests/resources/dockerursim/.vol/default.installation‎ renamed to ‎tests/resources/dockerursim/programs/e-series/default.installation‎

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‎tests/resources/dockerursim/.vol/default.variables‎ renamed to ‎tests/resources/dockerursim/programs/e-series/default.variables‎

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‎tests/resources/dockerursim/.vol/programs.UR5‎ renamed to ‎tests/resources/dockerursim/programs/e-series/programs.UR5‎

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