Merge pull request #440 from IMRCLab/issue433 #74
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: System Tests Simulation | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| # manual trigger | |
| workflow_dispatch: | |
| jobs: | |
| build: | |
| runs-on: self-hosted | |
| steps: | |
| - name: Build firmware | |
| id: step1 | |
| run: | | |
| ls crazyflie-firmware || git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git | |
| cd crazyflie-firmware | |
| git pull | |
| git submodule sync | |
| git submodule update --init --recursive | |
| make cf2_defconfig | |
| make bindings_python | |
| cd build | |
| python3 setup.py install --user | |
| - name: Create workspace | |
| id: step2 | |
| run: | | |
| cd ros2_ws/src || mkdir -p ros2_ws/src | |
| - name: Checkout motion capture package | |
| id: step3 | |
| run: | | |
| cd ros2_ws/src | |
| ls motion_capture_tracking || git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git | |
| cd motion_capture_tracking | |
| git pull | |
| git submodule sync | |
| git submodule update --recursive --init | |
| - name: Checkout Crazyswarm2 | |
| id: step4 | |
| uses: actions/checkout@v4 | |
| with: | |
| path: ros2_ws/src/crazyswarm2 | |
| submodules: 'recursive' | |
| - name: Build workspace | |
| id: step5 | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| cd ros2_ws | |
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| - name: Flight test | |
| id: step6 | |
| run: | | |
| cd ros2_ws | |
| source /opt/ros/humble/setup.bash | |
| . install/local_setup.bash | |
| export PYTHONPATH="${PYTHONPATH}:/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/crazyflie-firmware/build/" | |
| export ROS_LOCALHOST_ONLY=1 | |
| export ROS_DOMAIN_ID=99 | |
| python3 src/crazyswarm2/systemtests/test_flights.py --sim -v #-v is verbose argument of unittest | |
| - name: Upload files | |
| id: step7 | |
| if: '!cancelled()' | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: pdf_rosbags_and_logs | |
| path: | | |
| ros2_ws/results | |