add teleop controller #153
Workflow file for this run
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| name: CI | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| jobs: | |
| CI: | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: read | |
| issues: read | |
| checks: write | |
| pull-requests: write | |
| steps: | |
| - name: Prepare | |
| run: | | |
| mkdir -p ${{github.workspace}}/src | |
| - uses: actions/checkout@v4 | |
| with: | |
| path: src/cartesian_controllers_ros2 | |
| - name: Build Docker Image | |
| uses: docker/build-push-action@v6 | |
| with: | |
| tags: cartesian_controllers_ros2:jazzy | |
| file: .docker/ci/Dockerfile | |
| push: false | |
| - name: Build | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: cartesian_controllers_ros2:jazzy | |
| options: -v ${{github.workspace}}/:/ros/ | |
| run: | | |
| cd /ros # structure = <...>/ros/src/cartesian_controllers_ros2/<...> | |
| . /opt/ros/jazzy/setup.sh | |
| vcs import src < src/cartesian_controllers_ros2/cartesian_controllers_ros2.repos | |
| rosdep install --ignore-src --from-paths . -y -r | |
| colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install | |
| - name: Tests | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: cartesian_controllers_ros2:jazzy | |
| options: -v ${{github.workspace}}/:/ros/ | |
| run: | | |
| cd /ros | |
| . /opt/ros/jazzy/setup.sh | |
| vcs import src < src/cartesian_controllers_ros2/cartesian_controllers_ros2.repos | |
| rosdep install --ignore-src --from-paths . -y -r | |
| colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install | |
| source install/setup.bash | |
| colcon test --event-handlers console_direct+ | |
| colcon test-result | |
| - name: Upload Tests to Artifacts | |
| uses: actions/upload-artifact@v4 | |
| if: always() | |
| with: | |
| name: test-results | |
| path: build/*/test_results/*/*.xml | |
| - name: Publish Unit Test Results | |
| uses: EnricoMi/publish-unit-test-result-action@v2 | |
| if: always() | |
| with: | |
| files: build/*/test_results/*/*.xml |