Migrate to Jazzy #194
Workflow file for this run
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| name: integration_tests | |
| on: | |
| pull_request: | |
| push: | |
| branches: [ main ] | |
| defaults: | |
| run: | |
| shell: bash | |
| jobs: | |
| test: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| docker_image: ['ros:jazzy-ros-base'] | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| timeout-minutes: 60 | |
| steps: | |
| - name: Install deps for Rust | |
| run: | | |
| apt update && apt install -y git curl libclang-dev | |
| - name: Setup Rust for nexus_zenoh_bridge | |
| uses: dtolnay/rust-toolchain@1.75 | |
| with: | |
| components: clippy, rustfmt | |
| - uses: actions/checkout@v2 | |
| - uses: actions/cache@v3 | |
| with: | |
| path: ~/.cache/ccache | |
| key: ccache | |
| # TODO(luca) Remove build from source of UR robots | |
| # This is only temporary until a new Jazzy sync that includes https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/1153/ is made | |
| - name: TEMPORARY build UR from source | |
| run: | |
| git clone -b 2.4.13 https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver | |
| - name: rosdep | |
| run: | | |
| apt update | |
| apt install -y clang clang-tools lld ccache | |
| colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml | |
| colcon mixin update default | |
| rosdep update | |
| rosdep install --from-paths . -yir | |
| - name: build | |
| run: /ros_entrypoint.sh colcon build --packages-up-to nexus_calibration nexus_gazebo nexus_integration_tests nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache | |
| - name: Test - Unit Tests | |
| run: . ./install/setup.bash && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh colcon test --packages-select nexus_motion_planner --event-handlers=console_direct+ | |
| - name: Test - Integration Test | |
| run: . ./install/setup.bash && cd nexus_integration_tests && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh python3 -m unittest |