add visual servo Objective to ur_site_configs #613
Workflow file for this run
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| name: CI | |
| on: | |
| push: | |
| branches: [main] | |
| pull_request: | |
| workflow_dispatch: | |
| # Run every 6 hours Mon-Fri | |
| schedule: | |
| - cron: "* */6 * * 1-5" | |
| jobs: | |
| setup: | |
| runs-on: ubuntu-latest | |
| outputs: | |
| image_tag: ${{ steps.dotenv.outputs.studio_docker_tag }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - id: dotenv | |
| uses: falti/[email protected] | |
| integration-test-in-studio-container: | |
| needs: setup | |
| runs-on: ubuntu-latest | |
| env: | |
| STUDIO_LICENSE_KEY: ${{ secrets.STUDIO_CI_LICENSE_KEY }} | |
| # TODO this variable is required but github workspace is different | |
| # see https://github.com/actions/runner/issues/2058 | |
| USER_WS: /github/workspace | |
| ROS_DOMAIN_ID: 49 | |
| ROS_LOCALHOST_ONLY: 1 | |
| RMW_IMPLEMENTATION: rmw_cyclonedds_cpp | |
| CYCLONEDDS_URI: /tmp/cyclonedds.xml | |
| # TODO: docker tag | |
| # TODO: example for custom base images | |
| container: picknikciuser/moveit-studio:${{ needs.setup.outputs.image_tag }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| # The lo interfaces will not have multicast, and will barf trying to claim a participant index | |
| # with the default cyclone dds config. We set one for the unit tests to be able to execute. | |
| - name: Configure DDS | |
| run: | | |
| cat <<EOF > /tmp/cyclonedds.xml | |
| <?xml version="1.0" ?> | |
| <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd"> | |
| <Domain id="any"> | |
| <Discovery> | |
| <ParticipantIndex>auto</ParticipantIndex> | |
| <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex> | |
| </Discovery> | |
| </Domain> | |
| </CycloneDDS> | |
| EOF | |
| - name: Install rosdeps | |
| run: | | |
| . /opt/ros/humble/setup.sh | |
| . /opt/underlay_ws/install/setup.sh | |
| . /opt/overlay_ws/install/setup.sh | |
| apt-get update | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Run colcon build | |
| run: | | |
| . /opt/ros/humble/setup.sh | |
| . /opt/underlay_ws/install/setup.sh | |
| . /opt/overlay_ws/install/setup.sh | |
| colcon build | |
| - name: Run colcon test | |
| run: | | |
| . /opt/ros/humble/setup.sh | |
| . /opt/underlay_ws/install/setup.sh | |
| . /opt/overlay_ws/install/setup.sh | |
| . ./install/setup.sh | |
| colcon test | |
| - if: always() | |
| run: | | |
| colcon test-result --verbose |