Allow specifying poses as YAML in world files #1400
Workflow file for this run
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| name: tests | |
| on: | |
| # Run action on certain pull request events | |
| pull_request: | |
| types: [opened, synchronize, reopened, ready_for_review] | |
| # Nightly job on default (main) branch | |
| schedule: | |
| - cron: '0 0 * * *' | |
| # Allow tests to be run manually | |
| workflow_dispatch: | |
| # Ensures that only one workflow runs at a time for this branch | |
| concurrency: | |
| group: ${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| # Build and test the base, non-ROS image | |
| python-test: | |
| runs-on: ubuntu-latest | |
| permissions: | |
| pull-requests: write | |
| steps: | |
| - name: Check out repository | |
| uses: actions/checkout@v4 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| with: | |
| driver: docker-container | |
| # These steps run if not using a fork | |
| - name: Login to Docker Hub Registry | |
| uses: docker/login-action@v3 | |
| with: | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_PAT }} | |
| if: ${{ !github.event.pull_request.head.repo.fork }} | |
| - name: Build Docker image (with cache) | |
| uses: docker/build-push-action@v5 | |
| with: | |
| file: docker/Dockerfile | |
| target: pyrobosim | |
| context: . | |
| tags: ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:base | |
| push: true | |
| cache-from: | | |
| type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-base | |
| cache-to: | | |
| type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-base,mode=max | |
| if: ${{ !github.event.pull_request.head.repo.fork }} | |
| - name: Run tests (from pushed image) | |
| run: | | |
| docker run \ | |
| -w /opt/pyrobosim \ | |
| --volume ./test/results:/opt/pyrobosim/test/results:rw \ | |
| ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:base \ | |
| /bin/bash -c 'PYTHONPATH=/opt/pyrobosim/dependencies/pddlstream:${PYTHONPATH} ./test/run_tests.bash' | |
| if: ${{ !github.event.pull_request.head.repo.fork }} | |
| - name: Pytest coverage comment | |
| id: coverageComment | |
| uses: MishaKav/pytest-coverage-comment@main | |
| with: | |
| pytest-coverage-path: ./test/results/pytest-coverage.txt | |
| junitxml-path: ./test/results/test_results.xml | |
| pytest-xml-coverage-path: ./test/results/test_results_coverage.xml | |
| coverage-path-prefix: pyrobosim/pyrobosim/ | |
| # This will break on PRs from forks | |
| if: ${{ !github.event.pull_request.head.repo.fork }} | |
| # These steps run from a fork | |
| - name: Build Docker image (no push) | |
| uses: docker/build-push-action@v5 | |
| with: | |
| file: docker/Dockerfile | |
| target: pyrobosim | |
| context: . | |
| tags: pyrobosim:base | |
| push: false | |
| cache-from: | | |
| type=registry,ref=iridiumxi/pyrobosim:buildcache-base | |
| outputs: type=docker,dest=./pyrobosim_base.tar | |
| if: ${{ github.event.pull_request.head.repo.fork }} | |
| - name: Run tests (from loaded image) | |
| run: | | |
| docker load --input ./pyrobosim_base.tar | |
| docker run \ | |
| -w /opt/pyrobosim \ | |
| --volume ./test/results:/opt/pyrobosim/test/results:rw \ | |
| pyrobosim:base \ | |
| /bin/bash -c 'PYTHONPATH=./dependencies/pddlstream:${PYTHONPATH} ./test/run_tests.bash' | |
| if: ${{ github.event.pull_request.head.repo.fork }} | |
| - name: Create coverage badge | |
| uses: schneegans/[email protected] | |
| with: | |
| auth: ${{ secrets.COVERAGE_GIST_SECRET }} | |
| # This comes from https://gist.github.com/sea-bass/3761a8aa05af7b0e8c84210b9d103df8#file-pyrobosim-test-coverage-json | |
| gistID: 3761a8aa05af7b0e8c84210b9d103df8 | |
| filename: pyrobosim-test-coverage.json | |
| label: coverage | |
| message: ${{ steps.coverageComment.outputs.coverage }} | |
| color: ${{ steps.coverageComment.outputs.color }} | |
| namedLogo: python | |
| # Only update this badge on main | |
| if: github.ref == 'refs/heads/main' | |
| - name: Upload test results | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: test-results | |
| path: test/results/ | |
| # Always publish test results even when there are failures. | |
| if: ${{ always() }} | |
| # Build and test with ROS 2 | |
| ros2-test: | |
| strategy: | |
| matrix: | |
| ros_distro: [humble, iron, jazzy, rolling] | |
| name: ros-${{ matrix.ros_distro }}-test | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Check out repository | |
| uses: actions/checkout@v4 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| with: | |
| driver: docker-container | |
| # These steps run if not using a fork | |
| - name: Login to Docker Hub Registry | |
| uses: docker/login-action@v3 | |
| with: | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_PAT }} | |
| if: ${{ !github.event.pull_request.head.repo.fork }} | |
| - name: Build Docker image (with cache) | |
| uses: docker/build-push-action@v5 | |
| with: | |
| file: docker/Dockerfile | |
| target: pyrobosim_ros | |
| context: . | |
| build-args: | | |
| ROS_DISTRO=${{ matrix.ros_distro }} | |
| tags: ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:${{ matrix.ros_distro }} | |
| push: true | |
| cache-from: | | |
| type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-${{ matrix.ros_distro }} | |
| cache-to: | | |
| type=registry,ref=${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:buildcache-${{ matrix.ros_distro }},mode=max | |
| if: ${{ !github.event.pull_request.head.repo.fork }} | |
| - name: Run tests (from pushed image) | |
| run: | | |
| docker run \ | |
| --volume ./test/:/pyrobosim_ws/src/test/:rw \ | |
| --volume ./pytest.ini:/pyrobosim_ws/pytest.ini:rw \ | |
| ${{ secrets.DOCKERHUB_USERNAME }}/pyrobosim:${{ matrix.ros_distro }} \ | |
| /bin/bash -c './src/test/run_tests.bash ${{ matrix.ros_distro }}' | |
| if: ${{ !github.event.pull_request.head.repo.fork }} | |
| # These steps run from a fork | |
| - name: Build Docker image (no push) | |
| uses: docker/build-push-action@v5 | |
| with: | |
| file: docker/Dockerfile | |
| target: pyrobosim_ros | |
| context: . | |
| build-args: | | |
| ROS_DISTRO=${{ matrix.ros_distro }} | |
| tags: pyrobosim:${{ matrix.ros_distro }} | |
| push: false | |
| cache-from: | | |
| type=registry,ref=iridiumxi/pyrobosim:buildcache-${{ matrix.ros_distro }} | |
| outputs: type=docker,dest=./pyrobosim_${{ matrix.ros_distro }}.tar | |
| if: ${{ github.event.pull_request.head.repo.fork }} | |
| - name: Run tests (from loaded image) | |
| run: | | |
| docker load --input ./pyrobosim_${{ matrix.ros_distro }}.tar | |
| docker run \ | |
| --volume ./test/:/pyrobosim_ws/test/:rw \ | |
| --volume ./pytest.ini:/pyrobosim_ws/pytest.ini:rw \ | |
| pyrobosim:${{ matrix.ros_distro }} \ | |
| /bin/bash -c './src/test/run_tests.bash ${{ matrix.ros_distro }}' | |
| if: ${{ github.event.pull_request.head.repo.fork }} | |
| - name: Upload test results | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: test-results-${{ matrix.ros_distro }} | |
| path: test/results/ | |
| # Always publish test results even when there are failures. | |
| if: ${{ always() }} |