Eurobin + Miscellaneous fixes #44
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| name: CRAM Noetic Build & Test | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| branches: | |
| - devel | |
| jobs: | |
| build-and-test: | |
| runs-on: ubuntu-20.04 | |
| env: | |
| ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...] | |
| ROS_PARALLEL_JOBS: '-j8 -l6' | |
| PYTHONPATH: $PYTHONPATH:/usr/lib/python3/dist-packages:/usr/local/lib/python3/dist-packages | |
| ROS_DISTRO: noetic | |
| steps: | |
| - name: Install xvfb and freeglut for bullet | |
| run: | | |
| sudo apt-get update -qq | |
| sudo apt-get install -y xvfb mesa-utils freeglut3 | |
| - name: Checkout repository | |
| uses: actions/checkout@v3 | |
| with: | |
| path: ./ros_ws/src/cram | |
| - name: Install ROS, roslisp and tools | |
| run: | | |
| sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" | |
| sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 | |
| sudo apt-get update -qq | |
| sudo apt-get install dpkg | |
| sudo apt-get install -y python3-catkin-tools python3-catkin-pkg | |
| sudo apt-get install -y python3-rosdep python3-wstool | |
| sudo apt-get install -y libboost-dev | |
| sudo apt-get install -y libyaml-cpp-dev | |
| sudo apt-get install -y ros-cmake-modules | |
| sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core | |
| sudo apt-get install -y ros-$ROS_DISTRO-roscpp | |
| sudo apt-get install -y ros-$ROS_DISTRO-roslint | |
| sudo apt-get install -y ros-$ROS_DISTRO-std-msgs | |
| sudo apt-get install -y ros-$ROS_DISTRO-roslisp-repl | |
| sudo apt-get install -y ros-$ROS_DISTRO-rosbash | |
| sudo apt-get install -y ros-$ROS_DISTRO-roslaunch | |
| sudo apt-get install -y libassimp-dev | |
| sudo apt-get install -y libbullet-dev | |
| sudo apt-get install -y tree | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| # Prepare rosdep to install dependencies. | |
| sudo rosdep init | |
| rosdep update --include-eol-distros # Support EOL distros. | |
| - name: Collect resources into workspace with wstool | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| mkdir -p $GITHUB_WORKSPACE/ros_ws/src/cram | |
| cd $GITHUB_WORKSPACE | |
| cd $GITHUB_WORKSPACE/ros_ws/src | |
| wstool init | |
| wstool merge $GITHUB_WORKSPACE/ros_ws/src/cram/cram-20.04-http.rosinstall | |
| wstool remove cram # because it's this repo instead | |
| wstool up | |
| - name: Rosdep install dependencies | |
| run: | | |
| cd $GITHUB_WORKSPACE/ros_ws/ | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep install -y --ignore-src --from-paths src/ -r | |
| - name: Build Workspace | |
| run: | | |
| cd $GITHUB_WORKSPACE/ros_ws/ | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| catkin build $ROS_PARALLEL_JOBS | |
| - name: Run Tests | |
| run: | | |
| cd $GITHUB_WORKSPACE/ros_ws/ | |
| source devel/setup.bash | |
| xvfb-run rosrun cram_tests test.sh # xvfb for virtual display | |
| - name: Show test results | |
| run: | | |
| cd $GITHUB_WORKSPACE/ros_ws/ | |
| source devel/setup.bash | |
| roscd cram_tests | |
| cat reports/* |