Branch put on hold for now #9
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| name: ROS industrial ci | |
| on: [push, pull_request] | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - ROS_DISTRO: melodic | |
| ROS_REPO: main | |
| IMMEDIATE_TEST_OUTPUT: true | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS_Driver/master/.melodic.rosinstall" | |
| DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| URSIM_VERSION: '5.9.4' | |
| ROBOT_MODEL: 'ur5e' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| - ROS_DISTRO: noetic | |
| ROS_REPO: main | |
| IMMEDIATE_TEST_OUTPUT: true | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS_Driver#master https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS_Driver/master/.noetic.rosinstall" | |
| BUILDER: catkin_tools | |
| DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| URSIM_VERSION: '5.9.4' | |
| ROBOT_MODEL: 'ur5e' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| - ROS_DISTRO: galactic | |
| ROS_REPO: main | |
| IMMEDIATE_TEST_OUTPUT: true | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#galactic" | |
| DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| URSIM_VERSION: '5.9.4' | |
| ROBOT_MODEL: 'ur5e' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| NOT_TEST_DOWNSTREAM: true | |
| - ROS_DISTRO: humble | |
| ROS_REPO: main | |
| IMMEDIATE_TEST_OUTPUT: true | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#humble https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/humble/Universal_Robots_ROS2_Driver-not-released.humble.repos" | |
| DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| URSIM_VERSION: '5.9.4' | |
| ROBOT_MODEL: 'ur5e' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| NOT_TEST_DOWNSTREAM: true | |
| - ROS_DISTRO: iron | |
| ROS_REPO: main | |
| IMMEDIATE_TEST_OUTPUT: true | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#iron https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/iron/Universal_Robots_ROS2_Driver-not-released.iron.repos" | |
| DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| URSIM_VERSION: '5.9.4' | |
| ROBOT_MODEL: 'ur5e' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| NOT_TEST_DOWNSTREAM: true | |
| - ROS_DISTRO: rolling | |
| ROS_REPO: main | |
| IMMEDIATE_TEST_OUTPUT: true | |
| DOWNSTREAM_WORKSPACE: "github:UniversalRobots/Universal_Robots_ROS2_Driver#main https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Driver/main/Universal_Robots_ROS2_Driver-not-released.rolling.repos" | |
| DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| URSIM_VERSION: '5.9.4' | |
| ROBOT_MODEL: 'ur5e' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| NOT_TEST_DOWNSTREAM: true | |
| steps: | |
| - uses: actions/checkout@v1 | |
| - name: start ursim | |
| run: | | |
| scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d | |
| env: ${{matrix.env}} | |
| - uses: 'ros-industrial/industrial_ci@master' | |
| env: ${{matrix.env}} | |
| - name: Generate URSim log files | |
| if: always() | |
| run: | | |
| nc -q 1 192.168.56.101 29999 <<END | |
| saveLog | |
| END | |
| mkdir -p ursim_logs | |
| docker cp ursim:/ursim/URControl.log ursim_logs/URControl.log | |
| docker cp ursim:/ursim/polyscope.log ursim_logs/polyscope.log | |
| docker cp ursim:/ursim/log_history.txt ursim_logs/log_history.txt | |
| - name: Copy flight reports | |
| if: failure() | |
| run: | | |
| mkdir -p ursim_logs/flightreports | |
| docker cp ursim:/ursim/flightreports/. ursim_logs/flightreports/ | |
| - name: Upload logfiles | |
| uses: actions/upload-artifact@v3 | |
| if: always() | |
| with: | |
| name: ${{matrix.env.ROS_DISTRO}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs | |
| path: ursim_logs | |
| if-no-files-found: error | |
| retention-days: 10 |