Crazyswarm2 test 🐝 #246
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name: Crazyswarm2 test 🐝 | |
# Controls when the action will run. | |
on: | |
workflow_dispatch: | |
schedule: | |
- cron: '0 4 * * *' | |
jobs: | |
cs2_at_crazylab: | |
runs-on: [self-hosted, linux] | |
timeout-minutes: 10 | |
container: | |
image: ros:humble | |
options: --privileged | |
env: | |
CRAZY_SITE: crazylab-malmö | |
steps: | |
- name: Check out github source | |
uses: actions/checkout@v4 | |
- name: Install Crazyswarm dependencies | |
run: | | |
apt-get update | |
DEBIAN_FRONTEND=noninteractive apt install -y git swig libpython3-dev python3-numpy \ | |
python3-yaml python3-matplotlib python3-pytest python3-scipy \ | |
libpcl-dev libusb-1.0-0-dev sdcc gcc-arm-none-eabi \ | |
curl python3-toml python3-pip | |
pip3 install rowan cflib transforms3d ruamel.yaml | |
DEBIAN_FRONTEND=noninteractive apt install -y ros-humble-motion-capture-tracking \ | |
ros-humble-joy | |
DEBIAN_FRONTEND=noninteractive apt install -y uhubctl | |
- name: Clone Crazyswarm2 sources | |
run: | | |
mkdir -p ros2_ws/src | |
cd ros2_ws/src | |
rm -rf crazyswarm2 motion_capture_tracking | |
git clone https://github.com/IMRCLab/crazyswarm2.git --recursive | |
- name: Build Crazyswarm2 | |
run: | | |
source /opt/ros/humble/setup.bash | |
cd ros2_ws | |
rm -rf install/ log/ build/ | |
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release | |
shell: bash | |
- name: Reset power to all devices | |
run: python3 management/usb-power-reset.py -a reset | |
- name: Run Crazyswarm2 Server | |
run: | | |
source /opt/ros/humble/setup.bash | |
ls | |
source ros2_ws/install/setup.bash | |
ros2 launch swarms/cs2-test-yamls/launch.py | |
shell: bash |