feat: added slam action #960
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| name: Testing and Building | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| types: [opened, synchronize, reopened] | |
| jobs: | |
| build: # Sonarcloud analysis | |
| name: sonarcloud-build | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| env: | |
| SONAR_SCANNER_VERSION: 6.0.0.4432 | |
| SONAR_SERVER_URL: "https://sonarcloud.io" | |
| BUILD_WRAPPER_OUT_DIR: build_wrapper_output_directory # Directory where build-wrapper output will be placed | |
| SONAR_SCANNER_DOWNLOAD_URL: https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-6.0.0.4432-linux.zip | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| sudo apt install curl -y | |
| sudo apt install unzip -y | |
| sudo apt install bear -y | |
| - name: Download and set up sonar-scanner | |
| run: | | |
| curl ${{ env.SONAR_SCANNER_DOWNLOAD_URL }} --output sonar-scanner-cli-${{env.SONAR_SCANNER_VERSION}}-linux.zip | |
| unzip ./sonar-scanner-cli-${{env.SONAR_SCANNER_VERSION}}-linux.zip | |
| echo "./sonar-scanner-${{env.SONAR_SCANNER_VERSION}}-linux/bin" >> $GITHUB_PATH | |
| - name: Compile with bear | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| bear -- colcon build --packages-up-to common_lib perception ekf_state_est control planning inspection mocker_node evaluator | |
| - name: Run sonar-scanner | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} | |
| run: | | |
| sonar-scanner --define sonar.cfamily.compile-commands="./compile_commands.json" | |
| perception: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| - name: Rosdep | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build Dependencies | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-select custom_interfaces eufs_msgs fs_msgs common_lib pacsim | |
| - name: Build and Test Perception | |
| run: | | |
| source install/setup.bash | |
| colcon build --packages-select perception | |
| colcon test --packages-select perception | |
| colcon test-result --all --verbose | |
| ekf_state_est: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| - name: Rosdep | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build Dependencies | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-select custom_interfaces eufs_msgs fs_msgs common_lib pacsim motion_lib perception_sensor_lib | |
| - name: Build and Test EKF State Estimation | |
| run: | | |
| source install/setup.bash | |
| colcon build --packages-select ekf_state_est | |
| colcon test --packages-select ekf_state_est | |
| colcon test-result --all --verbose | |
| slam: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| ./slam/dependencies_install.sh | |
| - name: Rosdep | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build Dependencies | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-select custom_interfaces eufs_msgs fs_msgs common_lib pacsim motion_lib perception_sensor_lib | |
| - name: Build and Test SLAM | |
| run: | | |
| source install/setup.bash | |
| colcon build --packages-select slam | |
| colcon test --packages-select slam | |
| colcon test-result --all --verbose | |
| velocity_estimation: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| - name: Rosdep | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build Dependencies | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-select custom_interfaces eufs_msgs fs_msgs common_lib pacsim motion_lib | |
| - name: Build and Test Velocity Estimation | |
| run: | | |
| source install/setup.bash | |
| colcon build --packages-select velocity_estimation | |
| colcon test --packages-select velocity_estimation | |
| colcon test-result --all --verbose | |
| control: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| - name: Rosdep | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build Dependencies | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-select custom_interfaces eufs_msgs fs_msgs common_lib pacsim motion_lib | |
| - name: Build and Test Control | |
| run: | | |
| source install/setup.bash | |
| colcon build --packages-select control | |
| colcon test --packages-select control | |
| colcon test-result --all --verbose | |
| planning: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| - name: Rosdep | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build Dependencies | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-select custom_interfaces eufs_msgs fs_msgs common_lib pacsim | |
| - name: Build and Test Planning | |
| run: | | |
| source install/setup.bash | |
| colcon build --packages-select planning | |
| colcon test --packages-select planning | |
| colcon test-result --all --verbose | |
| inspection: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| - name: Rosdep | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build Dependencies | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-select custom_interfaces eufs_msgs fs_msgs common_lib pacsim | |
| - name: Build and Test Inspection Node | |
| run: | | |
| source install/setup.bash | |
| colcon build --packages-select inspection | |
| colcon test --packages-select inspection | |
| colcon test-result --all --verbose | |
| mocker_node: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| - name: Rosdep | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build Dependencies | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-select custom_interfaces eufs_msgs fs_msgs common_lib pacsim | |
| - name: Build and Test Mocker Node | |
| run: | | |
| source install/setup.bash | |
| colcon build --packages-select mocker_node | |
| colcon test --packages-select mocker_node | |
| colcon test-result --all --verbose | |
| evaluator_node: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base-jammy | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'true' | |
| - name: Install dependencies | |
| run: | | |
| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$USERNAME/.bashrc | |
| ./dependencies_install.sh | |
| - name: Rosdep | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build Dependencies | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| colcon build --packages-select custom_interfaces eufs_msgs fs_msgs common_lib pacsim | |
| - name: Build and Test Evaluator Node | |
| run: | | |
| source install/setup.bash | |
| colcon build --packages-select evaluator | |
| colcon test --packages-select evaluator --event-handler=console_direct+ | |
| colcon test-result --all --verbose |