test_ros2_jazzy.yml

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/action@v3.0.1
  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
          sudo apt install -y ros-jazzy-vision-msgs
          rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y --skip-keys webots_ros2 --skip-keys 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
          mkdir moveit
          cd moveit
          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 . --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