Changed controllers to include support for curobo and impedance contr… #2
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| name: CI | |
| on: | |
| push: | |
| branches: | |
| - develop | |
| pull_request: | |
| branches: | |
| - melodic-devel | |
| - noetic-devel | |
| - develop | |
| jobs: | |
| CI: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| ros_distro: [ melodic, noetic ] | |
| steps: | |
| - name: Prepare | |
| # Keep the compilation outputs persitant outside the docker container to use for the other steps | |
| run: | | |
| mkdir -p ${{github.workspace}}/src # where the repo will be cloned into | |
| mkdir -p ${{github.workspace}}/build # compilation cache for formatter & linter | |
| mkdir -p ${{github.workspace}}/devel # compilation cache for formatter & linter | |
| - name: Checkout | |
| uses: actions/checkout@v3 | |
| with: | |
| path: src/franka_ros | |
| - name: Parse ROS Distro | |
| run: echo "FLAVOR=$(echo ${{ github.event.pull_request.base.ref }} | sed 's/-devel//')" >> $GITHUB_ENV | |
| - name: Build Docker Image | |
| if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} | |
| uses: docker/build-push-action@v2 | |
| with: | |
| tags: franka_ros:${{matrix.ros_distro}} | |
| file: .ci/Dockerfile.${{matrix.ros_distro}} | |
| push: false | |
| - name: Compile with Catkin Tools | |
| if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: franka_ros:${{matrix.ros_distro}} | |
| options: -v ${{github.workspace}}/src:/ros/src/ # only mount source here | |
| run: | | |
| catkin config --workspace /ros/ --init --extend /opt/ros/${{matrix.ros_distro}} --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON | |
| catkin build --workspace /ros/ --interleave-output --verbose | |
| - name: Compile with Catkin Make | |
| if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: franka_ros:${{matrix.ros_distro}} | |
| options: -v ${{github.workspace}}:/ros | |
| shell: bash | |
| run: | | |
| source /opt/ros/${{matrix.ros_distro}}/setup.bash | |
| catkin_init_workspace /ros/src | |
| cd /ros | |
| catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=ON | |
| - name: Check C++ Format | |
| if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: franka_ros:${{matrix.ros_distro}} | |
| options: -v ${{github.workspace}}:/ros/ | |
| shell: bash | |
| run: | | |
| source /ros/devel/setup.bash | |
| cmake --build /ros/build --target check-format | |
| - name: Check Python Format | |
| if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: franka_ros:${{matrix.ros_distro}} | |
| options: -v ${{github.workspace}}:/ros/ | |
| shell: bash | |
| run: | | |
| source /ros/devel/setup.bash | |
| cmake --build /ros/build --target check-pyformat | |
| - name: Check Linting | |
| if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: franka_ros:${{matrix.ros_distro}} | |
| options: -v ${{github.workspace}}:/ros/ | |
| shell: bash | |
| run: | | |
| source /ros/devel/setup.bash | |
| cmake --build /ros/build --target check-tidy | |
| - name: Run Tests | |
| if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: franka_ros:${{matrix.ros_distro}} | |
| options: -v ${{github.workspace}}:/ros/ | |
| shell: bash | |
| run: | | |
| source /ros/devel/setup.bash | |
| cd /ros | |
| catkin_make run_tests -j1 # gazebo tests cannot run in parallel | |
| catkin_test_results | |
| - name: Upload Tests to Artifacts | |
| uses: actions/upload-artifact@v2 | |
| if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}} | |
| with: | |
| name: test-results | |
| path: build/test_results/*/rosunit-*.xml |