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Graph based topological navigation #254
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| name: ros CI | |
| on: | |
| push: | |
| branches: [ humble-dev, aoc ] | |
| tags: | |
| - '*' | |
| pull_request: | |
| branches: [ humble-dev, aoc ] | |
| jobs: | |
| # ------------------------------------------------------------------- | |
| # Lightweight unit tests (no ROS runtime needed) | |
| # ------------------------------------------------------------------- | |
| unit_tests: | |
| name: Unit tests (Python ${{ matrix.python-version }}) | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| python-version: ['3.10', '3.12'] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v6 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Install test dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install pytest pyyaml jsonschema networkx scipy numpy | |
| - name: Run topological_navigation unit tests | |
| working-directory: topological_navigation | |
| run: | | |
| python -m pytest test/ \ | |
| --ignore=test/test_navigationcore.py \ | |
| --ignore=test/test_localisation2.py \ | |
| -v --tb=short | |
| - name: Run topological_nav_simulator unit tests | |
| working-directory: topological_nav_simulator | |
| run: | | |
| python -m pytest test/ -v --tb=short || true | |
| # ------------------------------------------------------------------- | |
| # Full ROS 2 build + colcon test | |
| # ------------------------------------------------------------------- | |
| test_docker: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| include: | |
| - docker_image: ubuntu:jammy | |
| ros_distribution: humble | |
| ros_version: 2 | |
| - docker_image: ubuntu:noble | |
| ros_distribution: jazzy | |
| ros_version: 2 | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install rosdep | |
| run: | | |
| apt-get update | |
| apt-get install -y python3-pip | |
| pip3 install rosdep | |
| rosdep init || true | |
| rosdep update | |
| - name: setup ROS environment | |
| uses: LCAS/setup-ros@master | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distribution }} | |
| - name: build and test ROS 2 | |
| uses: ros-tooling/action-ros-ci@v0.3 | |
| with: | |
| target-ros2-distro: ${{ matrix.ros_distribution }} |