Merge pull request #52 in SRR/franka_ros2 from feat/joint-impedance-w… #46
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: CI | |
| on: | |
| push: | |
| branches: [ humble, develop ] | |
| pull_request: | |
| branches: [ humble, develop ] | |
| jobs: | |
| CI: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Prepare | |
| run: | | |
| mkdir -p ${{github.workspace}}/src | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: src/franka_ros2 | |
| - name: Build Docker Image | |
| uses: docker/build-push-action@v2 | |
| with: | |
| tags: franka_ros2:humble | |
| file: Dockerfile | |
| push: false | |
| - name: Build | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: franka_ros2:humble | |
| options: -v ${{github.workspace}}/:/ros/ | |
| run: | | |
| cd /ros | |
| . /opt/ros/humble/setup.sh | |
| colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCHECK_TIDY=ON | |
| - name: Test | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: franka_ros2:humble | |
| options: -v ${{github.workspace}}/:/ros/ | |
| run: | | |
| cd /ros | |
| . /opt/ros/humble/setup.sh | |
| . install/setup.sh | |
| colcon test | |
| colcon test-result | |
| - name: Upload Tests to Artifacts | |
| uses: actions/upload-artifact@v2 | |
| if: always() | |
| with: | |
| name: test-results | |
| path: build/*/test_results/*/*.xml | |
| - name: Publish Unit Test Results | |
| uses: EnricoMi/publish-unit-test-result-action@v1 | |
| if: always() | |
| with: | |
| files: build/*/test_results/*/*.xml |