smach changes #55
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| name: CI | ||
| on: [push, pull_request] | ||
| jobs: | ||
| build: | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - name: Checkout repository | ||
| uses: actions/checkout@v3 | ||
| - name: Set up Python | ||
| uses: actions/setup-python@v3 | ||
| with: | ||
| python-version: "3.x" | ||
| cache: "pip | ||
| - name: Set up ROS 2 Humble | ||
| run: | | ||
| sudo apt update | ||
| sudo apt install -y curl gnupg2 lsb-release | ||
| sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - | ||
| sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' | ||
| sudo apt update | ||
| sudo apt install ros-humble-desktop -y | ||
| sudo apt install python3-colcon-common-extensions -y | ||
| sudo apt install python3-rosdep -y | ||
| echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc | ||
| source /opt/ros/humble/setup.bash | ||
| sudo rosdep init | ||
| rosdep update | ||
| - name: Install ROS 2 dependencies | ||
| run: | | ||
| source /opt/ros/humble/setup.bash | ||
| sudo apt install -y ros-humble-executive-smach ros-humble-rclpy ros-humble-geometry-msgs ros-humble-std-msgs ros-humble-sensor-msgs | ||
| - name: Install Python dependencies | ||
| run: | | ||
| source /opt/ros/humble/setup.bash | ||
| python3 -m venv venv | ||
| source venv/bin/activate | ||
| python -m pip install --upgrade pip | ||
| pip install pyyaml # Install pyyaml to handle YAML files | ||
| pip install lark-parser # Install lark module for parsing | ||
| pip install numpy # Install numpy for scientific computing | ||
| pip install -r requirements.txt # Install other dependencies | ||
| sudo apt install rclpy | ||
| sudo apt install ros-humble-executive-smach | ||
| pip install git+https://github.com/splintered-reality/py_trees.git | ||
| pip install git+https://github.com/splintered-reality/py_trees_ros.git | ||
| - name: Run tests | ||
| run: | | ||
| source /opt/ros/humble/setup.bash | ||
| source venv/bin/activate | ||
| pytest tests/ | ||
