Merge pull request #161 from SemRoCo/feature_functions #492
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| name: CI unit tests | |
| defaults: | |
| run: | |
| shell: bash -ieo pipefail {0} | |
| on: | |
| push: | |
| branches: | |
| - master | |
| - devel | |
| pull_request: | |
| # branches: | |
| # - master | |
| # - devel | |
| workflow_dispatch: | |
| inputs: | |
| logLevel: | |
| description: 'Log level' | |
| required: true | |
| default: 'info' | |
| type: choice | |
| options: | |
| - info | |
| - warning | |
| - debug | |
| tags: | |
| description: 'Test scenario tags' | |
| required: false | |
| type: boolean | |
| jobs: | |
| build: | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/giskardpy' | |
| repository: SemRoCo/giskardpy | |
| - name: Checkout giskard msgs | |
| uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/giskard_msgs' | |
| repository: SemRoCo/giskard_msgs | |
| ref: devel | |
| - name: Checkout qpoases | |
| uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/qpOASES' | |
| repository: SemRoCo/qpOASES | |
| ref: noetic | |
| - name: Checkout iai_pr2 | |
| uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/iai_pr2' | |
| repository: code-iai/iai_pr2 | |
| ref: mujoco_sim_setup | |
| - name: Checkout iai_maps | |
| uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/iai_maps' | |
| repository: code-iai/iai_maps | |
| ref: master | |
| - name: Setup Giskard workspace | |
| uses: betwo/github-setup-catkin@master | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| with: | |
| # Version range or exact version of ROS version to use, using SemVer's version range syntax. | |
| ros-version: noetic | |
| build-tool: 'catkin_tools' | |
| # Root directory of the catkin workspace | |
| workspace: $GITHUB_WORKSPACE/ros_ws | |
| - name: install pip dependencies | |
| run: | | |
| python3 -m pip install --upgrade pip | |
| pip3 install -r ros_ws/src/giskardpy/requirements.txt | |
| - name: build Giskard | |
| run: | | |
| cd ros_ws | |
| touch src/iai_pr2/iai_pr2_sim/CATKIN_IGNORE | |
| touch src/iai_pr2/iai_pr2_donbot/CATKIN_IGNORE | |
| catkin build | |
| echo 'export ROS_HOSTNAME=localhost' >> ~/.bashrc | |
| echo 'source $GITHUB_WORKSPACE/ros_ws/devel/setup.bash' >> ~/.bashrc | |
| - name: start roscore | |
| run: | | |
| roscore & | |
| - name: casadi wrapper | |
| run: | | |
| roscd giskardpy | |
| python3 -m pytest -s test/test_cas_wrapper.py | |
| - name: exceptions | |
| run: | | |
| roscd giskardpy | |
| python3 -m pytest -s test/test_exceptions.py | |
| # - name: Setup upterm session | |
| ## if: always() | |
| # if: failure() | |
| # uses: lhotari/action-upterm@v1 |