Noetic devel #131
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| name: Build and Launch Robot in Gazebo | |
| on: | |
| push: | |
| branches: [noetic-devel] | |
| pull_request: | |
| workflow_dispatch: | |
| jobs: | |
| build: | |
| strategy: | |
| matrix: | |
| rosdistro: [noetic] | |
| runs-on: self-hosted | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Install apt dependencies | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| build-essential clang-format-10 file git python3-catkin-lint \ | |
| python3-catkin-tools python3-pip python3-rosdep | |
| - name: Install pip dependencies | |
| run: pip install pre-commit | |
| - name: Set up Catkin workspace | |
| run: | | |
| mkdir -p $GITHUB_WORKSPACE/catkin_ws/src | |
| - name: Checkout repository | |
| uses: actions/checkout@v3 | |
| with: | |
| path: catkin_ws/src/match_mobile_robotics | |
| - name: Install remaining dependencies | |
| run: | | |
| cd $GITHUB_WORKSPACE/catkin_ws/src/match_mobile_robotics | |
| bash setup_github.sh | |
| cd $GITHUB_WORKSPACE/catkin_ws | |
| if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then | |
| sudo rosdep init | |
| fi | |
| rosdep update | |
| rosdep install --from-paths src -i -y --rosdistro ${{ matrix.rosdistro }} | |
| - name: Build workspace | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| cd $GITHUB_WORKSPACE/catkin_ws | |
| catkin clean -y | |
| catkin build --limit-status-rate 0.1 --no-notify | |
| - name: Launch Gazebo with Robot using absolute path | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.sh # Ensure base ROS is sourced | |
| cd $GITHUB_WORKSPACE/catkin_ws | |
| ls | |
| source devel/setup.bash | |
| export QT_QPA_PLATFORM=offscreen | |
| #roslaunch mir_examples single_mir_600.launch & | |
| # kill rosmaster | |
| #killall -9 rosmaster | |
| roslaunch match_gazebo big_square.launch gui:=false& | |
| sleep 5 | |
| roslaunch mur_launch_sim mur_620.launch robot_x:=1.0 robot_y:=2.0 & | |
| sleep 15 # Give some time for Gazebo and ROS nodes to initialize | |
| - name: Check rostopic list | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| source $GITHUB_WORKSPACE/catkin_ws/devel/setup.bash | |
| #timeout 10 rostopic echo /mir_pose_simple -n 1 | |
| timeout 10 rostopic list | |
| continue-on-error: true | |
| - name: Check if topics exist | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| source $GITHUB_WORKSPACE/catkin_ws/devel/setup.bash | |
| # run node and check output for string "ERROR" | |
| output=$(rosrun integration_tests check_topics.py) | |
| # Print raw output for debugging | |
| echo "Raw output: $output" | |
| # Clean output of non-printable characters (optional) | |
| cleaned_output=$(echo "$output" | tr -cd '[:print:]\n') | |
| # Debugging: See what grep is matching | |
| echo "$cleaned_output" | grep -o "ERROR" | |
| # Perform a grep search for "ERROR" | |
| if echo "$cleaned_output" | grep -qi "\bERROR\b"; then | |
| echo "Error found in check_topics.py output" | |
| exit 1 | |
| else | |
| echo "No error found in the output." | |
| exit 0 | |
| fi | |
| continue-on-error: true | |
| - name: Check spawn | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| source $GITHUB_WORKSPACE/catkin_ws/devel/setup.bash | |
| # run node and check output for string "ERROR" | |
| output=$(rosrun integration_tests check_spawn.py) | |
| # Print raw output for debugging | |
| echo "Raw output: $output" | |
| # Clean output of non-printable characters (optional) | |
| cleaned_output=$(echo "$output" | tr -cd '[:print:]\n') | |
| # Debugging: See what grep is matching | |
| echo "$cleaned_output" | grep -o "ERROR" | |
| # Perform a grep search for "ERROR" | |
| if echo "$cleaned_output" | grep -qi "\bERROR\b"; then | |
| echo "Error found in check_topics.py output" | |
| exit 1 | |
| else | |
| echo "No error found in the output." | |
| exit 0 | |
| fi | |
| continue-on-error: true | |
| - name: Check homing | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| source $GITHUB_WORKSPACE/catkin_ws/devel/setup.bash | |
| # run node and check output for string "ERROR" | |
| output=$(rosrun integration_tests check_homing.py) | |
| # Print raw output for debugging | |
| echo "Raw output: $output" | |
| # Clean output of non-printable characters (optional) | |
| cleaned_output=$(echo "$output" | tr -cd '[:print:]\n') | |
| # Debugging: See what grep is matching | |
| echo "$cleaned_output" | grep -o "ERROR" | |
| # Perform a grep search for "ERROR" | |
| if echo "$cleaned_output" | grep -qi "\bERROR\b"; then | |
| echo "Error found in check_topics.py output" | |
| exit 1 | |
| else | |
| echo "No error found in the output." | |
| exit 0 | |
| fi | |
| continue-on-error: true | |
| - name: Evaluate test result | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| if timeout 10 rostopic echo /mur620/UR10_l/global_tcp_pose -n 1; then | |
| echo "Data received on pose topic, marking test as successful." | |
| exit 0 | |
| else | |
| echo "No data received on pose topic, failing the test." | |
| exit 1 | |
| fi | |
| continue-on-error: true | |