ESC Flasher module for AM32 firmware flashing #2479
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| # NOTE: this workflow is now running on Dronecode / PX4 AWS account. | |
| # - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines | |
| # and comment the "runs-on: [runs-on,runner=..." lines. | |
| # - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com | |
| name: ROS Integration Tests | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| paths-ignore: | |
| - 'docs/**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| paths-ignore: | |
| - 'docs/**' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build: | |
| runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false] | |
| container: | |
| image: px4io/px4-dev-ros2-galactic:2021-09-08 | |
| options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - name: Git Ownership Workaround | |
| run: git config --system --add safe.directory '*' | |
| - name: Update ROS Keys | |
| run: | | |
| sudo rm /etc/apt/sources.list.d/ros2.list && \ | |
| sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | |
| - name: Install gazebo | |
| run: | | |
| apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev | |
| - name: Prepare ccache timestamp | |
| id: ccache_cache_timestamp | |
| shell: cmake -P {0} | |
| run: | | |
| string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) | |
| message("::set-output name=timestamp::${current_date}") | |
| - name: ccache cache files | |
| uses: actions/cache@v4 | |
| with: | |
| path: ~/.ccache | |
| key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} | |
| restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache- | |
| - name: setup ccache | |
| run: | | |
| mkdir -p ~/.ccache | |
| echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf | |
| echo "compression = true" >> ~/.ccache/ccache.conf | |
| echo "compression_level = 6" >> ~/.ccache/ccache.conf | |
| echo "max_size = 300M" >> ~/.ccache/ccache.conf | |
| echo "hash_dir = false" >> ~/.ccache/ccache.conf | |
| ccache -s | |
| ccache -z | |
| - name: Get and build micro-xrce-dds-agent | |
| run: | | |
| cd /opt | |
| git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git | |
| cd Micro-XRCE-DDS-Agent | |
| git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16 | |
| sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt | |
| mkdir build | |
| cd build | |
| cmake .. | |
| make -j2 | |
| - name: ccache post-run micro-xrce-dds-agent | |
| run: ccache -s | |
| - name: Get and build the ros2 interface library | |
| shell: bash | |
| run: | | |
| PX4_DIR="$(pwd)" | |
| . /opt/ros/galactic/setup.bash | |
| mkdir -p /opt/px4_ws/src | |
| cd /opt/px4_ws/src | |
| git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git | |
| cd .. | |
| # Copy messages to ROS workspace | |
| "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)" | |
| rm -rf src/translation_node src/px4_msgs_old | |
| colcon build --symlink-install | |
| - name: ccache post-run ros workspace | |
| run: ccache -s | |
| - name: Build PX4 | |
| run: make px4_sitl_default | |
| - name: ccache post-run px4/firmware | |
| run: ccache -s | |
| - name: Build SITL Gazebo | |
| run: make px4_sitl_default sitl_gazebo-classic | |
| - name: ccache post-run sitl_gazebo-classic | |
| run: ccache -s | |
| - name: Core dump settings | |
| run: | | |
| ulimit -c unlimited | |
| echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern | |
| - name: Run tests | |
| shell: bash | |
| run: | | |
| . /opt/px4_ws/install/setup.bash | |
| /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 & | |
| test/ros_test_runner.py --verbose --model iris --upload --force-color | |
| timeout-minutes: 45 | |
| - name: Upload failed logs | |
| if: failure() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: failed-logs.zip | |
| path: | | |
| logs/**/**/**/*.log | |
| logs/**/**/**/*.ulg | |
| build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg |