test.yml

name: 'Test setup-gazebo'
on:
  pull_request:
  push:
    branches:
      - main
      - 'releases/*'
  schedule:
    # Run the CI automatically twice per day to look for flakyness.
    - cron: '0 */12 * * *'
defaults:
  run:
    shell: bash
jobs:
  test_action_linux:
    name: 'Unit testing action on GitHub runners'
    runs-on: ${{ matrix.ubuntu_distribution }}
    strategy:
      fail-fast: false
      matrix:
        ubuntu_distribution:
          - ubuntu-20.04
          - ubuntu-22.04
          - ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - run: .github/workflows/build-and-test.sh

  test_action_linux_docker:
    name: 'Unit testing action in a docker container'
    runs-on: ubuntu-latest
    container:
      image: ${{ matrix.docker_image }}
    strategy:
      fail-fast: false
      matrix:
        docker_image:
          - ubuntu:focal
          - ubuntu:jammy
          - ubuntu:noble
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - run: .github/workflows/build-and-test.sh

  test_gazebo_install_ubuntu:
    name: 'Install Gazebo on Ubuntu GitHub runner'
    runs-on: ${{ matrix.ubuntu_distribution }}
    strategy:
      fail-fast: false
      matrix:
        ubuntu_distribution:
          - ubuntu-20.04
          - ubuntu-22.04
          - ubuntu-24.04
        gazebo_distribution:
          - citadel
          - fortress
          - harmonic
          - ionic
        exclude:
          # Gazebo Citadel (Dec 2019 - Dec 2024)
          # Compatible ubuntu distributions: 20.04
          - ubuntu_distribution: ubuntu-22.04
            gazebo_distribution: citadel
          - ubuntu_distribution: ubuntu-24.04
            gazebo_distribution: citadel

          # Gazebo Fortress (Sep 2021 - Sep 2026)
          # Compatible ubuntu distributions: 20.04
          - ubuntu_distribution: ubuntu-22.04
            gazebo_distribution: fortress
          - ubuntu_distribution: ubuntu-24.04
            gazebo_distribution: fortress

          # Gazebo Harmonic (Sep 2023 - Sep 2028)
          # Compatible ubuntu distributions: 22.04, 24.04
          - ubuntu_distribution: ubuntu-20.04
            gazebo_distribution: harmonic

          # Gazebo Ionic (Sep 2024 - Sep 2026)
          # Compatible ubuntu distributions: 24.04
          - ubuntu_distribution: ubuntu-20.04
            gazebo_distribution: ionic
          - ubuntu_distribution: ubuntu-22.04
            gazebo_distribution: ionic
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - name: 'Check Gazebo installation on Ubuntu runner'
        uses: ./
        with:
          required-gazebo-distributions: ${{ matrix.gazebo_distribution }}
      - name: 'Test Gazebo installation'
        run: |
          if command -v ign > /dev/null; then
            ign gazebo --versions
          elif command -v gz > /dev/null; then
            gz sim --versions
          else
            echo "Neither ign nor gz command found"
            exit 1
          fi

  test_gazebo_install_ubuntu_docker:
    name: 'Install Gazebo on Ubuntu docker'
    runs-on: ubuntu-latest
    container:
      image: ${{ matrix.docker_image }}
    strategy:
      fail-fast: false
      matrix:
        docker_image:
          - ubuntu:focal
          - ubuntu:jammy
          - ubuntu:noble
        gazebo_distribution:
          - citadel
          - fortress
          - harmonic
          - ionic
        exclude:
          # Gazebo Citadel (Dec 2019 - Dec 2024)
          # Compatible ubuntu docker images: focal
          - docker_image: ubuntu:jammy
            gazebo_distribution: citadel
          - docker_image: ubuntu:noble
            gazebo_distribution: citadel

          # Gazebo Fortress (Sep 2021 - Sep 2026)
          # Compatible ubuntu docker images: focal
          - docker_image: ubuntu:jammy
            gazebo_distribution: fortress
          - docker_image: ubuntu:noble
            gazebo_distribution: fortress

          # Gazebo Harmonic (Sep 2023 - Sep 2028)
          # Compatible ubuntu docker images: jammy, noble
          - docker_image: ubuntu:focal
            gazebo_distribution: harmonic

          # Gazebo Ionic (Sep 2024 - Sep 2026)
          # Compatible ubuntu distributions: 24.04
          - docker_image: ubuntu:focal
            gazebo_distribution: ionic
          - docker_image: ubuntu:jammy
            gazebo_distribution: ionic
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - name: 'Check Gazebo installation on Ubuntu runner'
        uses: ./
        with:
          required-gazebo-distributions: ${{ matrix.gazebo_distribution }}
      - name: 'Test Gazebo installation'
        run: |
          if command -v ign > /dev/null; then
            ign gazebo --versions
          elif command -v gz > /dev/null; then
            gz sim --versions
          else
            echo "Neither ign nor gz command found"
            exit 1
          fi

  test_gazebo_install_ubuntu_prerelease_docker:
    name: 'Install Gazebo pre-release on Ubuntu docker'
    runs-on: ubuntu-latest
    container:
      image: ${{ matrix.docker_image }}
    strategy:
      fail-fast: false
      matrix:
        docker_image:
          - ubuntu:jammy
          - ubuntu:noble
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - name: 'Check Gazebo installation on Ubuntu runner'
        uses: ./
        with:
          required-gazebo-distributions: 'harmonic'
          use-gazebo-prerelease: 'true'
      - name: 'Test Gazebo installation'
        run: 'gz sim --versions'

  test_gazebo_install_ubuntu_nightly_docker:
    name: 'Install Gazebo nightly on Ubuntu docker'
    runs-on: ubuntu-latest
    container:
      image: ubuntu:noble
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - name: 'Check Gazebo installation on Ubuntu runner'
        uses: ./
        with:
          required-gazebo-distributions: 'ionic'
          use-gazebo-nightly: 'true'
      - name: 'Test Gazebo installation'
        run: 'gz sim --versions'

  test_gazebo_install_macos:
    name: 'Install Gazebo on macOS'
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os:
          # macOS Ventura
          - macos-13

          # macOS Sonoma
          - macos-14
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - name: 'Check Gazebo installation on macOS runner'
        uses: ./
        with:
          required-gazebo-distributions: 'harmonic'
      - name: 'Test Gazebo installation'
        run: 'gz sim --versions'

  test_gazebo_install_windows:
    name: 'Install Gazebo on Windows'
    runs-on: windows-latest
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - uses: conda-incubator/setup-miniconda@v3
      - name: 'Check Gazebo installation on Windows runner'
        uses: ./
        with:
          required-gazebo-distributions: 'harmonic'
      - name: 'Test Gazebo installation'
        shell: pwsh
        run: |
          conda activate
          gz sim --versions

  test_install_ros_gz_unofficial:
    name: 'Install Iron and Harmonic side-by-side'
    env:
      ROS_DISTROS: 'iron'
    runs-on: ubuntu-latest
    container:
      image: ubuntu:jammy
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - name: 'Install ROS 2 Iron'
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: ${{ env.ROS_DISTROS }}
      - name: 'Install Gazebo Harmonic with ros_gz'
        uses: ./
        with:
          required-gazebo-distributions: 'harmonic'
          install-ros-gz: ${{ env.ROS_DISTROS }}
      - name: Test Iron ros_gz installation
        run: |
          source /opt/ros/iron/setup.bash
          ros2 pkg list | grep ros_gz
          gz sim --version | grep 'version 8.[0-9*].[0-9*]'

  test_install_ros_gz_official:
    name: 'Install Humble and Fortress side-by-side'
    env:
      ROS_DISTROS: 'humble'
    runs-on: ubuntu-latest
    container:
      image: ubuntu:jammy
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.4
        with:
          node-version: '20.x'
      - name: 'Install ROS 2 Humble'
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: ${{ env.ROS_DISTROS }}
      - name: 'Install Gazebo with ros_gz'
        uses: ./
        with:
          required-gazebo-distributions: 'fortress'
          install-ros-gz: ${{ env.ROS_DISTROS }}
      - name: Test Humble ros_gz installation
        run: |
          source /opt/ros/humble/setup.bash
          ros2 pkg list | grep ros_gz
          ign gazebo --version | grep 'version 6.*'

  test_install_ros_gz_vendor:
    name: 'Install Harmonic on Jazzy through vendor packages'
    env:
      ROS_DISTROS: 'jazzy'
    runs-on: ubuntu-latest
    container:
      image: ubuntu:noble
    steps:
      - uses: actions/checkout@v4
      - uses: actions/setup-node@v4.0.3
        with:
          node-version: '20.x'
      - name: 'Install ROS 2 Jazzy'
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: ${{ env.ROS_DISTROS }}
      - name: 'Install Gazebo with ros_gz'
        uses: ./
        with:
          required-gazebo-distributions: 'harmonic'
          install-ros-gz: ${{ env.ROS_DISTROS }}
      - name: Test Jazzy ros_gz installation
        run: |
          source /opt/ros/jazzy/setup.bash
          ! [ $(apt list --installed gz-harmonic) ]
          ros2 pkg list | grep ros_gz
          gz sim --version | grep 'version 8.[0-9*].[0-9*]'