Migrate to rmw_zenoh_cpp
#238
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: nexus_unit_tests | |
| on: | |
| pull_request: | |
| push: | |
| branches: [ main ] | |
| defaults: | |
| run: | |
| shell: bash | |
| jobs: | |
| test: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ${{ matrix.image }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distribution: | |
| - jazzy | |
| include: | |
| - ros_distribution: jazzy | |
| image: ghcr.io/open-rmf/rmf/rmf_demos:jazzy-rmf-latest@sha256:abebb3a35c04241fb9be14578e9adcb98a7416cf0eef34c3ee2e484d9bc6fbdf | |
| timeout-minutes: 60 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distribution }} | |
| - name: rosdep | |
| run: | | |
| apt update | |
| apt install -y ccache | |
| colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml | |
| colcon mixin update default | |
| rosdep update | |
| rosdep install --from-paths . -yir | |
| - name: build | |
| run: /ros_entrypoint.sh colcon build --packages-up-to nexus_common nexus_lifecycle_manager nexus_robot_controller nexus_system_orchestrator nexus_transporter nexus_workcell_orchestrator --mixin release | |
| - name: test | |
| run: . ./install/setup.bash && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh colcon test --packages-select nexus_common nexus_lifecycle_manager nexus_robot_controller nexus_system_orchestrator nexus_transporter nexus_workcell_orchestrator --event-handlers=console_direct+ | |
| # TODO(ac): reinstate this once https://github.com/ros-tooling/action-ros-ci/issues/991 | |
| # is resolved. | |
| # # Only tests that can be run without arbitrary number of workers. For | |
| # # tests that require --parallel-workers 1, run it in | |
| # # nexus_integration_tests. | |
| # - name: build and test | |
| # uses: ros-tooling/action-ros-ci@v0.4 | |
| # env: | |
| # RMW_IMPLEMENTATION: rmw_cyclonedds_cpp | |
| # with: | |
| # package-name: | | |
| # nexus_common | |
| # nexus_lifecycle_manager | |
| # nexus_system_orchestrator | |
| # nexus_transporter | |
| # nexus_workcell_orchestrator | |
| # target-ros2-distro: ${{ matrix.ros_distribution }} | |
| # colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml | |
| # # TODO(ac): retarget this repo file before merging | |
| # vcs-repo-file-url: https://raw.githubusercontent.com/osrf/nexus/ac/rmf-so-bid/abb.repos | |
| # no-symlink-install: true | |
| # colcon-defaults: | | |
| # { | |
| # "build": { | |
| # "mixin": ["release"] | |
| # } | |
| # } |