gazebo headless integration tests with github actions

Author: AlexanderBarbie

.github/workflows/build-arm32v7.yml

@@ -34,7 +34,7 @@ jobs:
     needs: [unit-tests]
     steps:
     - uses: actions/checkout@v4
-    - name: Start roslaunch in Docker container
+    - name: Integration Test dcmotor
       working-directory: ./PiCar-X
       run: |
         docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-11:/dev/i2c-11 --privileged  abarbie/picarx-dcmotor-driver:latest-arm32v7 rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11 

.github/workflows/build-arm64v8.yml

@@ -33,7 +33,7 @@ jobs:
     needs: [unit-tests]
     steps:
     - uses: actions/checkout@v4
-    - name: Start roslaunch in Docker container
+    - name: Integration Test dcmotor
       working-directory: ./PiCar-X
       run: |
         docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-11:/dev/i2c-11 --privileged  abarbie/picarx-dcmotor-driver:latest-arm64v8 rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11 

.github/workflows/build-x64.yml

@@ -34,11 +34,26 @@ jobs:
     needs: [unit-tests]
     steps:
     - uses: actions/checkout@v4
-    - name: Start roslaunch in Docker container
+    - name: Integration Test dcmotor
       working-directory: ./PiCar-X
       run: |
         docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-0:/dev/i2c-0 --privileged  abarbie/picarx-dcmotor-driver:latest rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-0 
 
+    - name: Speed tests using Gazebo headless
+      uses: actions/checkout@v4
+      working-directory: ./PiCar-X
+      run: |
+        i2c=/dev/i2c-0 docker compose -f docker-compose-dtp-inttest.yml up -d
+        docker exec -it picar-x-picarx-gazebo-control-1 /bin/bash -c "source ./install/setup.bash && python3 ./src/simulation/picarx_control/tests/steering_integration_test.py"
+
+    - name: Remove running containers after tests
+      uses: actions/checkout@v4
+      if: success() || failure()
+      working-directory: ./PiCar-X
+      run: |
+        docker compose -f docker-compose-dtp-inttest.yml down
+    
+
   release:
     runs-on: [self-hosted, Linux, X64]
     needs: [integration-tests]

PiCar-X/simulation/picarx_control/tests/steering_integration_test.py

@@ -51,12 +51,10 @@ def test_dt_pub_data(self):
         right_wheel_stop_position = self.final_message.pose[right_wheel_stop_index]
         left_wheel_stop_position = self.final_message.pose[left_wheel_stop_index]
         rospy.loginfo(right_wheel_start_position)
-        self.assertAlmostEqual(right_wheel_start_position.position.x + 1, right_wheel_stop_position.position.x, delta=0.03)
-        self.assertAlmostEqual(left_wheel_start_position.position.x + 1, left_wheel_stop_position.position.x, delta=0.03)
+        self.assertAlmostEqual(right_wheel_start_position.position.x + 1, right_wheel_stop_position.position.x, delta=0.04)
+        self.assertAlmostEqual(left_wheel_start_position.position.x + 1, left_wheel_stop_position.position.x, delta=0.04)
 
 
 if __name__ == '__main__':
     rosunit.unitrun("ackermann_skill", 'test_pt_speed',
-                    Test_Speed)
-
-# python3 src/simulation/picarx_control/tests/steering_integration_test.py
+                    Test_Speed)