Update CMakeLists with install and upadte ros ci to test launch files

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yeshasvitirupachuri · Jan 6, 2021 · 51dd5e2 · 51dd5e2
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commit 51dd5e2
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Showing 4 changed files with 44 additions and 27 deletions.
diff --git a/.github/workflows/check-ros-distribution.sh b/.github/workflows/check-ros-distribution.sh
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
@@ -1,5 +1,4 @@
-# This is a basic workflow to help you get started with Actions
-
+# ROS Continuos Integration based on ros-tooling https://github.com/ros-tooling
 name: ROS CI
 
 # Controls when the action will run.
@@ -43,17 +42,22 @@ jobs:
       - uses: ros-tooling/setup-ros@v0.1
         with:
           required-ros-distributions:  ${{ matrix.ros_distribution }}
-      # joint-state-publisher package is deprecated, install use joint-state-publisher-gui
-      - run: sudo apt-get install  ros-melodic-joint-state-publisher-gui
+
+      # joint-state-publisher package is deprecated, instead use joint-state-publisher-gui
+      - run: sudo apt-get install ros-melodic-joint-state-publisher-gui
 
       - uses: ros-tooling/action-ros-ci@v0.1
+        id: action-ros-ci
         with:
           vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/rosdeps_packages.repos"
           package-name: fake_ar_publisher universal_robot myworkcell_core myworkcell_support
           # Following https://github.com/ros-tooling/action-ros-ci#use-with-a-private-repo
           # actions-ros-ci on a private repository needs a Github Token
           import-token: ${{ secrets.ROS_CI_TOKEN }}
           target-ros1-distro: ${{ matrix.ros_distribution }}
-      - run: ${{ github.workspace }}/.github/workflows/check-ros-distribution.sh "${{ matrix.ros_distribution }}"    
-      #Test urdf launch
-      - run: roslaunch myworkcell_support urdf.launch
+
+      # Test urdf launch file
+      - run: "source /opt/ros/${{ matrix.ros_distribution }}/setup.bash && source ${{ steps.action-ros-ci.outputs.ros-workspace-directory-name }}/install/local_setup.bash &&  source ${{ steps.action-ros-ci.outputs.ros-workspace-directory-name }}/install/setup.bash && roslaunch myworkcell_support urdf.launch"
+
+      # Test workcell launch file
+      - run: "source /opt/ros/${{ matrix.ros_distribution }}/setup.bash && source ${{ steps.action-ros-ci.outputs.ros-workspace-directory-name }}/install/local_setup.bash &&  source ${{ steps.action-ros-ci.outputs.ros-workspace-directory-name }}/install/setup.bash && roslaunch myworkcell_support workcell.launch"
diff --git a/myworkcell_core/CMakeLists.txt b/myworkcell_core/CMakeLists.txt
@@ -174,17 +174,27 @@ target_link_libraries(myworkcell_node
 
 ## Mark executables for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+ install(TARGETS vision_node
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )
+
+install(TARGETS myworkcell_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark libraries for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
+ install(TARGETS vision_node
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+ )
+
+install(TARGETS myworkcell_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/

diff --git a/myworkcell_support/CMakeLists.txt b/myworkcell_support/CMakeLists.txt
@@ -168,6 +168,21 @@ include_directories(
 #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
+install(DIRECTORY urdf/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
+  PATTERN ".svn" EXCLUDE
+ )
+
+install(DIRECTORY rviz/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
+  PATTERN ".svn" EXCLUDE
+ )
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  PATTERN ".svn" EXCLUDE
+ )
+
 ## Mark libraries for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
 # install(TARGETS ${PROJECT_NAME}