turtlebot-fleet-ops/.github/workflows/ros2-ci.yml at 95369a9f9a4239082906ec3e51a24b3e6aa8fcac · spongebobDG/turtlebot-fleet-ops · GitHub

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name: ROS 2 CI

on:
  pull_request:
  push:
    branches:
      - main

permissions:
  contents: read

concurrency:
  group: ros2-ci-${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build-and-test:
    name: Humble build and test
    runs-on: ubuntu-22.04
    timeout-minutes: 30

    steps:
      - name: Check out repository
        uses: actions/checkout@v6

      - name: Test web map coordinate transforms
        run: node --test control/fleet_gateway/test/test_map_math.js

      - name: Set up ROS 2 Humble
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: humble

      - name: Install Jammy navigation runtime dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y \
            libunwind-15-dev \
            ros-humble-rmw-cyclonedds-cpp \
            shellcheck

      - name: Install package dependencies
        run: |
          for attempt in 1 2 3; do
            if rosdep update; then
              break
            fi
            if [[ "${attempt}" == "3" ]]; then
              exit 1
            fi
            sleep $((attempt * 5))
          done
          rosdep install \
            --from-paths robot control \
            --ignore-src \
            --rosdistro humble \
            --skip-keys ament_python \
            -y

      - name: Install pinned Zenoh ROS 2 bridge
        run: bash infra/zenoh/install-standalone.sh

      - name: Build workspace packages
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          colcon build \
            --base-paths robot control \
            --event-handlers console_direct+

      - name: Validate operational files
        shell: bash
        run: |
          shellcheck --exclude=SC1090,SC1091 \
            infra/navigation/*.sh infra/zenoh/*.sh
          bash infra/systemd/validate-units.sh
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          ros2 launch navigation_agent tb1_mapping.launch.py --show-args
          ros2 launch navigation_agent tb1_navigation.launch.py --show-args
          ros2 launch fleet_gateway weekend_mock.launch.py --show-args

      - name: Run robotless navigation smoke test
        shell: bash
        env:
          ROS_DOMAIN_ID: "142"
        run: bash infra/navigation/run-robotless-navigation-smoke.sh

      - name: Run robotless Zenoh action smoke test
        shell: bash
        run: bash infra/navigation/run-robotless-zenoh-action-smoke.sh

      - name: Run robotless task and fault smoke test
        shell: bash
        env:
          ROS_DOMAIN_ID: "142"
        run: bash infra/navigation/run-robotless-operations-smoke.sh

      - name: Run workspace tests
        shell: bash
        env:
          ROS_DOMAIN_ID: "142"
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          colcon test \
            --packages-select \
              fleet_interfaces \
              safety_watchdog \
              robot_agent \
              navigation_agent \
              fleet_gateway \
            --event-handlers console_direct+
          colcon test-result --verbose