clean up update from actions #47
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name: CRAM Noetic Build & Test | |
on: | |
workflow_dispatch: | |
pull_request: | |
branches: | |
- devel | |
jobs: | |
build-and-test: | |
runs-on: ubuntu-20.04 | |
env: | |
ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...] | |
ROS_PARALLEL_JOBS: '-j8 -l6' | |
PYTHONPATH: $PYTHONPATH:/usr/lib/python3/dist-packages:/usr/local/lib/python3/dist-packages | |
ROS_DISTRO: noetic | |
steps: | |
- name: Install xvfb and freeglut for bullet | |
run: | | |
sudo apt-get update -qq | |
sudo apt-get install -y xvfb mesa-utils freeglut3 | |
- name: Checkout repository | |
uses: actions/checkout@v3 | |
with: | |
path: ./ros_ws/src/cram | |
- name: Install ROS, roslisp and tools | |
run: | | |
sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" | |
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 | |
sudo apt-get update -qq | |
sudo apt-get install dpkg | |
sudo apt-get install -y python3-catkin-tools python3-catkin-pkg | |
sudo apt-get install -y python3-rosdep python3-wstool | |
sudo apt-get install -y libboost-dev | |
sudo apt-get install -y libyaml-cpp-dev | |
sudo apt-get install -y ros-cmake-modules | |
sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core | |
sudo apt-get install -y ros-$ROS_DISTRO-roscpp | |
sudo apt-get install -y ros-$ROS_DISTRO-roslint | |
sudo apt-get install -y ros-$ROS_DISTRO-std-msgs | |
sudo apt-get install -y ros-$ROS_DISTRO-roslisp-repl | |
sudo apt-get install -y ros-$ROS_DISTRO-rosbash | |
sudo apt-get install -y ros-$ROS_DISTRO-roslaunch | |
sudo apt-get install -y libassimp-dev | |
sudo apt-get install -y libbullet-dev | |
sudo apt-get install -y tree | |
source /opt/ros/$ROS_DISTRO/setup.bash | |
# Prepare rosdep to install dependencies. | |
sudo rosdep init | |
rosdep update --include-eol-distros # Support EOL distros. | |
- name: Collect resources into workspace with wstool | |
run: | | |
source /opt/ros/$ROS_DISTRO/setup.bash | |
mkdir -p $GITHUB_WORKSPACE/ros_ws/src/cram | |
cd $GITHUB_WORKSPACE | |
cd $GITHUB_WORKSPACE/ros_ws/src | |
wstool init | |
wstool merge $GITHUB_WORKSPACE/ros_ws/src/cram/cram-20.04-http.rosinstall | |
wstool remove cram # because it's this repo instead | |
wstool up | |
- name: Rosdep install dependencies | |
run: | | |
cd $GITHUB_WORKSPACE/ros_ws/ | |
source /opt/ros/$ROS_DISTRO/setup.bash | |
rosdep install -y --ignore-src --from-paths src/ -r | |
- name: Build Workspace | |
run: | | |
cd $GITHUB_WORKSPACE/ros_ws/ | |
source /opt/ros/$ROS_DISTRO/setup.bash | |
catkin build $ROS_PARALLEL_JOBS | |
- name: Run Tests | |
run: | | |
cd $GITHUB_WORKSPACE/ros_ws/ | |
source devel/setup.bash | |
xvfb-run rosrun cram_tests test.sh # xvfb for virtual display | |
- name: Show test results | |
run: | | |
cd $GITHUB_WORKSPACE/ros_ws/ | |
source devel/setup.bash | |
roscd cram_tests | |
cat reports/* |