added monitor to open and close the hsr's gripper + python interface methods and tests for it #23
Workflow file for this run
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 unit tests | |
| defaults: | |
| run: | |
| shell: bash -ieo pipefail {0} | |
| on: | |
| push: | |
| branches: | |
| - master | |
| - devel | |
| pull_request: | |
| # branches: | |
| # - master | |
| # - devel | |
| workflow_dispatch: | |
| inputs: | |
| logLevel: | |
| description: 'Log level' | |
| required: true | |
| default: 'info' | |
| type: choice | |
| options: | |
| - info | |
| - warning | |
| - debug | |
| tags: | |
| description: 'Test scenario tags' | |
| required: false | |
| type: boolean | |
| jobs: | |
| build: | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/giskardpy' | |
| repository: SUTURO/giskardpy | |
| - name: Checkout giskard msgs | |
| uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/giskard_msgs' | |
| repository: SemRoCo/giskard_msgs | |
| ref: devel | |
| - name: Checkout qpoases | |
| uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/qpOASES' | |
| repository: SemRoCo/qpOASES | |
| ref: noetic | |
| - name: Checkout iai_pr2 | |
| uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/iai_pr2' | |
| repository: code-iai/iai_pr2 | |
| ref: mujoco_sim_setup | |
| - name: Checkout iai_maps | |
| uses: actions/checkout@v3 | |
| with: | |
| path: 'ros_ws/src/iai_maps' | |
| repository: code-iai/iai_maps | |
| ref: master | |
| - name: Setup Giskard workspace | |
| uses: betwo/github-setup-catkin@master | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| with: | |
| # Version range or exact version of ROS version to use, using SemVer's version range syntax. | |
| ros-version: noetic | |
| build-tool: 'catkin_tools' | |
| # Root directory of the catkin workspace | |
| workspace: $GITHUB_WORKSPACE/ros_ws | |
| - name: install pip dependencies | |
| run: | | |
| python3 -m pip install --upgrade pip | |
| pip3 install -r ros_ws/src/giskardpy/requirements.txt | |
| - name: build Giskard | |
| run: | | |
| cd ros_ws | |
| touch src/iai_pr2/iai_pr2_sim/CATKIN_IGNORE | |
| touch src/iai_pr2/iai_pr2_donbot/CATKIN_IGNORE | |
| catkin build | |
| echo 'export ROS_HOSTNAME=localhost' >> ~/.bashrc | |
| echo 'source $GITHUB_WORKSPACE/ros_ws/devel/setup.bash' >> ~/.bashrc | |
| - name: start roscore | |
| run: | | |
| roscore & | |
| - if: ${{ (runner.debug == '1') }} | |
| name: Setup upterm session | |
| uses: lhotari/action-upterm@v1 | |
| - name: casadi wrapper | |
| run: | | |
| roscd giskardpy | |
| python3 -m pytest -s test/test_cas_wrapper.py | |
| - name: exceptions | |
| run: | | |
| roscd giskardpy | |
| python3 -m pytest -s test/test_exceptions.py | |
| # - name: Setup upterm session | |
| ## if: always() | |
| # if: failure() | |
| # uses: lhotari/action-upterm@v1 |