Use cyclone everywhere #63
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| name: nav2-integration-tests | |
| on: push | |
| jobs: | |
| integration-tests: | |
| timeout-minutes: 20 | |
| runs-on: ubuntu-latest | |
| container: | |
| image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble | |
| strategy: | |
| matrix: | |
| ros_distribution: | |
| - jazzy | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Extract branch name | |
| shell: bash | |
| run: echo "branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT | |
| id: extract_branch | |
| - name: Install docker-compose | |
| run: | | |
| sudo apt update && sudo apt install docker-compose -y | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| - name: Build and export free-fleet-examples | |
| uses: docker/build-push-action@v5 | |
| with: | |
| push: false | |
| build-args: | | |
| ROS_DISTRO=${{ matrix.ros_distribution }} | |
| FREE_FLEET_BRANCH=${{ steps.extract_branch.outputs.branch }} | |
| tags: free-fleet-examples:${{ matrix.ros_distribution }}-${{ steps.extract_branch.outputs.branch }} | |
| context: .github/docker/free-fleet-examples | |
| outputs: type=docker,dest=./free-fleet-examples.tar | |
| - name: Load image | |
| run: | | |
| docker load --input ./free-fleet-examples.tar | |
| docker image ls -a | |
| - name: Start test fixture containers | |
| run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" up -d --build | |
| - name: Start the RMF common nodes | |
| run: | | |
| docker run --network=host -d \ | |
| free-fleet-examples:${{ matrix.ros_distribution }}-${{ steps.extract_branch.outputs.branch }} \ | |
| bash -c "ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml" | |
| - name: Start the free fleet adapter | |
| run: | | |
| docker run --network=host -d \ | |
| free-fleet-examples:${{ matrix.ros_distribution }}-${{ steps.extract_branch.outputs.branch }} \ | |
| bash -c "ros2 launch free_fleet_examples nav2_tb3_simulation_fleet_adapter.launch.xml" | |
| - name: build-and-test | |
| uses: ./.github/actions/build-and-test | |
| with: | |
| ros-distribution: ${{ matrix.ros_distribution }} | |
| zenoh-version: 1.1.0 | |
| nav2-integration-testing: ON | |
| - name: Stop test fixture containers | |
| if: always() | |
| run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" down | |
| - name: Upload coverage to Codecov | |
| uses: codecov/codecov-action@v4 | |
| with: | |
| files: ros_ws/coveragepy/.coverage | |
| flags: tests | |
| fail_ci_if_error: true | |
| env: | |
| CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} |