test moveit2 only for now #7
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| name: ROS2 Jazzy | |
| on: | |
| pull_request: | |
| types: [opened, synchronize, reopened, labeled, unlabeled] | |
| push: | |
| branches: | |
| - jazzy | |
| schedule: | |
| - cron: '0 10 * * *' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| lint: | |
| name: Lint package | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| config: | |
| - { python: "3.12" } | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.config.python }} | |
| - name: Lint sources | |
| uses: pre-commit/[email protected] | |
| webots_spot: | |
| name: Webots Spot with Nav2 and Moveit2 | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Install ROS2 Jazzy | |
| run: > | |
| sudo apt update | |
| sudo apt install -y software-properties-common | |
| sudo add-apt-repository universe | |
| curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | |
| | sudo apt-key add - | |
| sudo sh -c 'echo "deb [arch=amd64,arm64] | |
| http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > | |
| /etc/apt/sources.list.d/ros2-latest.list' | |
| sudo apt update | |
| sudo apt install -y ros-jazzy-ros-base | |
| python3-colcon-common-extensions ros-dev-tools | |
| - name: Install Webots 2023b | |
| run: | | |
| sudo apt update | |
| sudo apt install -y wget dialog apt-utils psmisc lsb-release git | |
| sudo wget https://github.com/cyberbotics/webots/releases/download/R2023b/webots_2023b_amd64.deb -O /tmp/webots.deb | |
| sudo apt install -y /tmp/webots.deb xvfb | |
| - name: Create Workspace | |
| run: | | |
| mkdir -p ~/ros2_ws/src | |
| cp -r $GITHUB_WORKSPACE/. ~/ros2_ws/src/webots_ros2_spot | |
| - name: Install Webots Spot Dependencies | |
| run: | | |
| cd ~/ros2_ws | |
| source /opt/ros/jazzy/setup.bash | |
| sudo rosdep init | |
| rosdep update | |
| sudo apt install -y libunwind-dev # Nav2 dependency | |
| rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y --skip-keys webots_ros2 moveit | |
| vcs import --recursive src --skip-existing --input src/webots_ros2_spot/webots_ros2_spot.repos | |
| chmod +x src/webots_ros2/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py | |
| - name: MoveIt2 Dependencies | |
| run: | | |
| cd ~/ros2_ws/src | |
| git clone https://github.com/moveit/moveit2.git -b main | |
| for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done | |
| rosdep install -r --from-paths moveit2 --ignore-src --rosdistro $ROS_DISTRO -y | |
| - name: Build Packages | |
| run: | | |
| cd ~/ros2_ws | |
| source /opt/ros/jazzy/setup.bash | |
| colcon build --symlink-install | |
| source install/setup.bash | |
| - name: Test | |
| run: | | |
| export WEBOTS_RELEASE_VERSION=2023b-rev1 | |
| export WEBOTS_OFFSCREEN=1 | |
| export CI=1 | |
| export DEBIAN_FRONTEND=noninteractive | |
| cd ~/ros2_ws | |
| source install/setup.bash | |
| colcon test --ctest-args tests --packages-select webots_spot --event-handlers console_direct+ --return-code-on-test-failure |