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Felix Exner (fexner)
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Use dedicated build for noetic main (#640)
* Use dedicated build for noetic main * Increase timeout waiting for first action server * Add full noetic build matrix * Make the integration test behind a compile flag Since for our integration tests we would require docker being able to spawn a new container that can't necessarily be expected in any usecase. Also, with making this optional we don't require docker as a test dependency which also makes the package a lot more lightweight.
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‎.github/workflows/ci.yml‎

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‎.github/workflows/ci_format.yml‎

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name: Clang-Format check
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on:
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push:
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branches:
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- master
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pull_request:
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branches:
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- master
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jobs:
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format_check:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: 'ros-industrial/industrial_ci@master'
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env:
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ROS_DISTRO: noetic
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CLANG_FORMAT_CHECK: file
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CLANG_FORMAT_VERSION: "9"

‎.github/workflows/noetic-binary-main.yml‎

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name: Noetic Binary Build Main
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '32 5 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable_ici.yml
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with:
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ros_distro: noetic
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ros_repo: main
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ref_for_scheduled_build: master

‎.github/workflows/noetic-binary-testing.yml‎

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name: Noetic Binary Build Testing
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '32 5 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable_ici.yml
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with:
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ros_distro: noetic
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ros_repo: testing
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ref_for_scheduled_build: master

‎.github/workflows/noetic-semi-binary-main.yml‎

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name: Noetic Semi-Binary Build Main
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '32 5 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable_ici.yml
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with:
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ros_distro: noetic
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ros_repo: main
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ref_for_scheduled_build: master
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upstream_workspace: .noetic.rosinstall

‎.github/workflows/noetic-semi-binary-testing.yml‎

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name: Noetic Semi-Binary Build Testing
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on:
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workflow_dispatch:
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branches:
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- master
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pull_request:
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branches:
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- master
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push:
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branches:
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- master
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schedule:
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# Run every morning to detect flakiness and broken dependencies
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- cron: '32 5 * * *'
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jobs:
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binary:
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uses: ./.github/workflows/reusable_ici.yml
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with:
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ros_distro: noetic
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ros_repo: testing
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ref_for_scheduled_build: master
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upstream_workspace: .noetic.rosinstall

‎.github/workflows/reusable_ici.yml‎

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name: Reusable industrial_ci workflow
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# original author: Denis Štogl <[email protected]>
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on:
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workflow_call:
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inputs:
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ref_for_scheduled_build:
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description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
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default: ''
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required: false
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type: string
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upstream_workspace:
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description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
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default: ''
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required: false
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type: string
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ros_distro:
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description: 'ROS_DISTRO variable for industrial_ci'
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required: false
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type: string
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ros_repo:
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description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
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default: 'main'
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required: false
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type: string
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jobs:
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reusable_ici:
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name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
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runs-on: ubuntu-latest
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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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ADDITIONAL_DEBS: 'docker.io'
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steps:
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- name: Checkout ${{ inputs.ref }} when build is not scheduled
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if: ${{ github.event_name != 'schedule' }}
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uses: actions/checkout@v3
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- name: Checkout ${{ inputs.ref }} on scheduled build
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if: ${{ github.event_name == 'schedule' }}
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uses: actions/checkout@v3
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with:
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ref: ${{ inputs.ref_for_scheduled_build }}
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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:
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UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
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ROS_DISTRO: ${{ inputs.ros_distro }}
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ROS_REPO: ${{ inputs.ros_repo }}
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CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON

‎ur_robot_driver/CMakeLists.txt‎

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set(CMAKE_BUILD_TYPE RelWithDebInfo)
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endif()
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# Default to off as this only works in environments where a new docker container can be started with the appropriate networking, which
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# might not be possible e.g. inside the buildfarm
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option(
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UR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS
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"Build integration tests using the start_ursim script"
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OFF
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)
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find_package(catkin REQUIRED
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COMPONENTS
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actionlib
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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add_rostest(test/driver.test)
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if(${UR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS})
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add_rostest(test/driver.test)
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endif()
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endif()
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‎ur_robot_driver/launch/ur_control.launch‎

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<!-- spawn controller manager -->
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<node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" args="$(arg controllers)" />
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output="screen" args="$(arg controllers) --timeout 600" />
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<!-- load other controller -->
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<node name="ros_control_stopped_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" args="--stopped $(arg stopped_controllers)" unless="$(eval arg('stopped_controllers') == '')"/>
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output="screen" args="--stopped $(arg stopped_controllers) --timeout 600" unless="$(eval arg('stopped_controllers') == '')"/>
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<node name="controller_stopper" pkg="ur_robot_driver" type="controller_stopper_node" respawn="false" output="screen">
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<remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>

‎ur_robot_driver/test/driver.test‎

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<arg name="stopped_controllers" value="forward_joint_traj_controller forward_cartesian_traj_controller twist_controller pose_based_cartesian_traj_controller joint_based_cartesian_traj_controller"/>
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</include>
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<node name="ursim" pkg="ur_client_library" type="start_ursim.sh" respawn="false" output="screen">
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</node>
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<!--If the default controller changes, this remap has to be adapted, as well-->
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<remap from="follow_joint_trajectory" to="/scaled_pos_joint_traj_controller/follow_joint_trajectory" />
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<remap from="forward_cartesian_trajectory" to="/forward_cartesian_traj_controller/follow_cartesian_trajectory" />

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