Crazyswarm2 test 🐝 #169
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Crazyswarm2 test 🐝 | |
| # Controls when the action will run. | |
| on: | |
| workflow_dispatch: | |
| schedule: | |
| - cron: '0 4 * * *' | |
| jobs: | |
| cs2_at_crazylab: | |
| runs-on: [self-hosted, linux] | |
| timeout-minutes: 10 | |
| container: | |
| image: ros:humble | |
| options: --privileged | |
| env: | |
| CRAZY_SITE: crazylab-malmö | |
| steps: | |
| - name: Check out github source | |
| uses: actions/checkout@v4 | |
| - name: Install Crazyswarm dependencies | |
| run: | | |
| apt-get update | |
| DEBIAN_FRONTEND=noninteractive apt install -y git swig libpython3-dev python3-numpy \ | |
| python3-yaml python3-matplotlib python3-pytest python3-scipy \ | |
| libpcl-dev libusb-1.0-0-dev sdcc gcc-arm-none-eabi \ | |
| curl python3-toml python3-pip | |
| pip3 install rowan cflib transforms3d ruamel.yaml | |
| DEBIAN_FRONTEND=noninteractive apt install -y ros-humble-motion-capture-tracking \ | |
| ros-humble-joy | |
| DEBIAN_FRONTEND=noninteractive apt install -y uhubctl | |
| - name: Clone Crazyswarm2 sources | |
| run: | | |
| mkdir -p ros2_ws/src | |
| cd ros2_ws/src | |
| rm -rf crazyswarm2 motion_capture_tracking | |
| git clone https://github.com/IMRCLab/crazyswarm2.git --recursive | |
| - name: Build Crazyswarm2 | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| cd ros2_ws | |
| rm -rf install/ log/ build/ | |
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| shell: bash | |
| - name: Reset power to all devices | |
| run: python3 management/usb-power-reset.py -a reset | |
| - name: Run Crazyswarm2 Server | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| ls | |
| source ros2_ws/install/setup.bash | |
| ros2 launch swarms/cs2-test-yamls/launch.py | |
| shell: bash |