Changed spline interpolation to use the last commanded joint velocity… #761
Workflow file for this run
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| name: Integration tests | |
| on: [push, pull_request] | |
| jobs: | |
| build: | |
| timeout-minutes: 30 | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| env: | |
| - DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| ROBOT_MODEL: 'ur5' | |
| URSIM_VERSION: '3.14.3' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3' | |
| - DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| ROBOT_MODEL: 'ur5e' | |
| URSIM_VERSION: '5.9.4' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| steps: | |
| - uses: actions/checkout@v1 | |
| - name: start ursim | |
| run: | | |
| scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d | |
| env: ${{matrix.env}} | |
| - name: install gtest | |
| run: sudo apt-get install -y libgtest-dev | |
| - name: install boost | |
| run: sudo apt-get install -y libboost-dev | |
| - name: configure | |
| run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON | |
| env: | |
| CXXFLAGS: -g -O2 -fprofile-arcs -ftest-coverage | |
| CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage | |
| LDFLAGS: -fprofile-arcs -ftest-coverage | |
| - name: build | |
| run: cmake --build build --config Debug | |
| - name: Create folder for test artifacts | |
| run: mkdir -p test_artifacts | |
| - name: test | |
| run: cd build && ctest --output-on-failure | |
| - name: run examples | |
| run: ./run_examples.sh "192.168.56.101" 1 | |
| - name: install gcovr | |
| run: sudo apt-get install -y gcovr | |
| - name: gcovr | |
| run: cd build && gcovr -r .. | |
| - name: Upload coverage to Codecov | |
| uses: codecov/codecov-action@v3 | |
| with: | |
| gcov: true | |
| - name: Generate URSim log files | |
| if: always() | |
| run: | | |
| nc -q 1 192.168.56.101 29999 <<END | |
| saveLog | |
| END | |
| mkdir -p ursim_logs | |
| docker cp ursim:/ursim/URControl.log ursim_logs/URControl.log | |
| docker cp ursim:/ursim/polyscope.log ursim_logs/polyscope.log | |
| docker cp ursim:/ursim/log_history.txt ursim_logs/log_history.txt | |
| - name: Copy flight reports | |
| if: failure() | |
| run: | | |
| mkdir -p ursim_logs/flightreports | |
| docker cp ursim:/ursim/flightreports/. ursim_logs/flightreports/ | |
| - name: Upload logfiles | |
| uses: actions/upload-artifact@v3 | |
| if: always() | |
| with: | |
| name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs | |
| path: ursim_logs | |
| if-no-files-found: error | |
| retention-days: 10 | |
| - name: Upload test artifacts | |
| uses: actions/upload-artifact@v3 | |
| if: always() | |
| with: | |
| name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_test_artifacts | |
| path: test_artifacts | |
| if-no-files-found: error | |
| retention-days: 10 | |
| check_links: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Check URLs | |
| run: | | |
| .github/helpers/check_urls.sh -rI \ | |
| --exclude-dir=.git \ | |
| --exclude-dir=build/ \ | |
| --exclude-dir=tests \ | |
| --exclude=package.xml \ | |
| --exclude-dir=CMakeModules \ | |
| --exclude=tcp_socket.cpp \ | |
| --exclude-dir=debian \ | |
| --exclude=real_time.md \ | |
| --exclude=dataflow.graphml \ | |
| --exclude=start_ursim.sh | |
| rosdoc_lite_check: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v1 | |
| - uses: ./.github/actions/rosdoc_lite_action |