feat: an empty control mode, to do nothing. (#61) #151
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| # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | |
| # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | |
| name: CI | |
| on: | |
| workflow_dispatch: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| jobs: | |
| ci: | |
| name: ROS2 ${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ROS_DISTRO: [rolling, kilted, jazzy, humble] | |
| ROS_REPO: [main] | |
| env: | |
| CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci) | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/cache@v4 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| # This configuration will always create a new ccache cache starting off from the previous one (if any). | |
| # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO | |
| # and might need some fine-tuning to match the use case | |
| key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}} | |
| restore-keys: | | |
| ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}- | |
| - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci | |
| env: # either pass all entries explicitly | |
| ROS_DISTRO: ${{ matrix.ROS_DISTRO }} | |
| ROS_REPO: ${{ matrix.ROS_REPO }} | |
| ADDITIONAL_DEBS: "ros-${{ matrix.ROS_DISTRO }}-controller-manager-msgs ros-${{ matrix.ROS_DISTRO }}-ros-base" | |
| BEFORE_RUN_TARGET_TEST: | | |
| echo "=== RUNNING THE BEFORE_RUN_TARGET_TEST ===" | |
| sudo apt-get update | |
| sudo apt-get install -y gdb | |
| sudo chmod a+x /root/target_ws/install/teleop_core/lib/teleop_core/test_inputs_manual | |
| cd /root/target_ws | |
| set +u | |
| source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash | |
| source install/setup.bash | |
| set -u | |
| : "${LD_LIBRARY_PATH:=}" # default to empty if unset | |
| export LD_LIBRARY_PATH=install/teleop_core/lib:$LD_LIBRARY_PATH | |
| gdb -ex "run" -ex "bt" -ex "bt full" -ex "quit" --args /root/target_ws/install/teleop_core/lib/teleop_core/test_inputs_manual | |
| ARTIFACTS: /root/target_ws | |
| - name: Upload workspace on failure | |
| if: failure() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: "ws-${{ matrix.ROS_DISTRO }}-failure" | |
| path: target_ws | |
| - name: Upload workspace | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: "ws-${{ matrix.ROS_DISTRO }}" | |
| path: target_ws | |