OUXT-Polaris / ros-integration-test-action

ROS Integration Test Action

Github actions for running integration test for ROS packages. Currenty, we are supporting foxy and galactic. If you want to run build test for ROS / ROS2 package, we recommend to use this action.

paramters

name	required	default	description
base_image	false	ros	name of base image
tag	false	foxy	name of docker image tag
rosdistro	false	foxy	name of ros distribution
test_command	true		shell command for runnig test case
check_result_command	true		shell command for checkin test case results
artifact_name	false	artifacts	name of output artifact
repos_artifact_name	true		artifact name of repos file you want to use in this action
repos_filename	true		name of repos file you want to use in this action
colcon_args	false	--ament-cmake-args -DCMAKE_CXX_FLAGS="-fprofile-arcs -ftest-coverage -DCOVERAGE_RUN=1" --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo	argument for colcon build
lcov_artifacts_name	false	lcov_artifacts	name of lcov result artifact
with_lcov	false	true	if true, collect metrics with lcov

How it works?

1. Building runtime container in alpine linux docker continer.
2. Generate entrypoint.sh script for runtime container.
3. Copy packages.repos file into runtime docker, and build your ROS2 package inside runtime container.
4. Execute test_command and run integration test.
5. Execute check_result_command and check integration result test.
6. Upload files under "/artifacts" directory inside runtime container as artifact of workflow run.

Tips

If you want to run integration test quickly, build your packages under "/colcon_ws" directory and push that image into docker registory. (dockerhub, AWS ECR etc..)

How to use?

See also, example workflow of this repository.

name: test

on:
  workflow_dispatch:
  schedule:
    - cron: 0 0 * * *
  pull_request:
  push:
    branches:
      - master

jobs:
  test:
    runs-on: ubuntu-latest
    name: A test job for ros integration test action
    strategy:
      fail-fast: false
      matrix:
        rosdistro: [foxy, galactic]
    steps:
    - uses: actions/checkout@v0.0.2
    - name: Copy and rename repos file
      run: cp .github/workflows/test.repos packages.repos
    # Read package.repos and run integration test.
    - name: Run ros integration test action
      uses: OUXT-Polaris/ros-integration-test-action@0.0.11
      with:
        base_image: ros
        tag: ${{ matrix.rosdistro }}
        rosdistro: ${{ matrix.rosdistro }}
        test_command: ls /colcon_ws/src
        check_result_command: ls /colcon_ws/src
        artifact_name: artifacts_${{ matrix.rosdistro }}_${{ matrix.repository_type }}
        repos_artifact_name: repos_${{ matrix.rosdistro }}_${{ matrix.repository_type }}
        repos_filename: ${{ matrix.repository_type }}.repos
        colcon_args: --symlink-install
        lcov_artifacts_name: artifacts_${{ matrix.rosdistro }}_${{ matrix.repository_type }}_lcov
        with_lcov: true
      env:
        ACTIONS_RUNTIME_TOKEN: ${{ secrets.GITHUB_TOKEN }} 
        ACTIONS_RUNTIME_URL: ${{ env.ACTIONS_RUNTIME_URL }}
        GITHUB_RUN_ID: ${env.GITHUB_RUN_ID}
        GITHUB_CLONE_TOKEN: ${{ secrets.WAMV_TAN_BOT_SECRET }} # access token for cloning your package in private repository.
        GITHUB_CLONE_USERNAME: wam-v-tan # users of access token