use gz-physics#283 to implement joint_states/effort feedback (#186) #81
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| name: gz_ros2_control CI - Jazzy | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| branches: [ jazzy ] | |
| push: | |
| branches: [ jazzy ] | |
| schedule: | |
| # Run every morning to detect flakiness and broken dependencies | |
| - cron: '03 4 * * *' | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - docker-image: "ubuntu:24.04" | |
| ros-distro: "jazzy" | |
| ros-repo-packages: "-testing" | |
| env: | |
| DOCKER_IMAGE: ${{ matrix.docker-image }} | |
| ROS_DISTRO: ${{ matrix.ros-distro }} | |
| ROS_REPO_PACKAGES: ${{ matrix.ros-repo-packages }} | |
| container: | |
| image: ${{ matrix.docker-image }} | |
| steps: | |
| - name: Checkout code | |
| if: github.event_name != 'schedule' | |
| uses: actions/checkout@v4 | |
| - name: Checkout code for scheduled workflow | |
| if: github.event_name == 'schedule' | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: jazzy | |
| - name: Setup colcon workspace | |
| id: configure | |
| shell: bash | |
| run: | | |
| export DEBIAN_FRONTEND=noninteractive | |
| apt update -qq | |
| apt install -qq -y lsb-release wget curl gnupg2 git | |
| cd .. | |
| mkdir -p /home/ros2_ws/src | |
| cp -r gz_ros2_control /home/ros2_ws/src/ | |
| curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2$ROS_REPO_PACKAGES/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null | |
| apt-get update && apt-get upgrade -q -y | |
| apt-get update && apt-get install -qq -y \ | |
| dirmngr \ | |
| python3-colcon-ros \ | |
| python3-colcon-common-extensions \ | |
| python3-rosdep \ | |
| build-essential | |
| cd /home/ros2_ws/src/ | |
| rosdep init | |
| rosdep update | |
| rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src | |
| - name: Build project | |
| id: build | |
| run: | | |
| cd /home/ros2_ws/ | |
| . /opt/ros/${ROS_DISTRO}/local_setup.sh | |
| colcon build --packages-up-to gz_ros2_control_demos gz_ros2_control_tests | |
| - name: Run tests | |
| id: test | |
| run: | | |
| cd /home/ros2_ws/ | |
| . /opt/ros/${ROS_DISTRO}/local_setup.sh | |
| colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests | |
| colcon test-result |