Provide force-torque sensor data through gz_system to controller_manager #77
Workflow file for this run
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| name: gz_ros2_control CI - Rolling | |
| on: | |
| pull_request: | |
| branches: [ master ] | |
| push: | |
| branches: [ master ] | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - docker-image: "ubuntu:22.04" | |
| gz-version: "fortress" | |
| ros-distro: "rolling" | |
| ros-repo-packages: "" | |
| - docker-image: "ubuntu:22.04" | |
| gz-version: "garden" | |
| ros-distro: "rolling" | |
| ros-repo-packages: "" | |
| - docker-image: "ubuntu:22.04" | |
| gz-version: "fortress" | |
| ros-distro: "rolling" | |
| ros-repo-packages: "-testing" | |
| - docker-image: "ubuntu:22.04" | |
| gz-version: "garden" | |
| ros-distro: "rolling" | |
| ros-repo-packages: "-testing" | |
| env: | |
| DOCKER_IMAGE: ${{ matrix.docker-image }} | |
| GZ_VERSION: ${{ matrix.gz-version }} | |
| ROS_DISTRO: ${{ matrix.ros-distro }} | |
| ROS_REPO_PACKAGES: ${{ matrix.ros-repo-packages }} | |
| container: | |
| image: ${{ matrix.docker-image }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup colcon workspace | |
| id: configure | |
| shell: bash | |
| run: | | |
| export DEBIAN_FRONTEND=noninteractive | |
| apt update -qq | |
| apt install -qq -y lsb-release wget curl gnupg2 git | |
| cd .. | |
| mkdir -p /home/ros2_ws/src | |
| if [ "$ROS_DISTRO" == "rolling" ]; then | |
| git clone https://github.com/gazebosim/ros_gz/ | |
| fi | |
| cp -r gz_ros2_control /home/ros2_ws/src/ | |
| curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2$ROS_REPO_PACKAGES/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null | |
| wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | |
| if [ "$GZ_VERSION" == "garden" ]; then | |
| export GZ_DEPS="libgz-sim7-dev libgz-plugin2-dev gz-sim7-cli" | |
| fi | |
| apt-get update && apt-get upgrade -q -y | |
| apt-get update && apt-get install -qq -y \ | |
| dirmngr \ | |
| python3-colcon-ros \ | |
| python3-colcon-common-extensions \ | |
| python3-rosdep \ | |
| build-essential \ | |
| ${GZ_DEPS} | |
| if [ "$GZ_VERSION" == "garden" ]; then | |
| export ROSDEP_ARGS="--skip-keys ros_gz_sim --skip-keys gz-plugin2 --skip-keys gz-sim7 --skip-keys gz-transport12 --skip-keys gz-math7 --skip-keys gz-msgs9" | |
| fi | |
| cd /home/ros2_ws/src/ | |
| if [ "$ROS_DISTRO" == "rolling" ]; then | |
| git clone https://github.com/gazebosim/ros_gz/ | |
| fi | |
| if [ "$ROS_DISTRO" == "iron" ]; then | |
| git clone https://github.com/gazebosim/ros_gz/ -b iron | |
| fi | |
| rosdep init | |
| rosdep update | |
| rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src ${ROSDEP_ARGS} | |
| - name: Build project | |
| id: build | |
| run: | | |
| cd /home/ros2_ws/ | |
| . /opt/ros/${ROS_DISTRO}/local_setup.sh | |
| colcon build --packages-up-to gz_ros2_control_demos gz_ros2_control_tests | |
| - name: Run tests | |
| id: test | |
| run: | | |
| cd /home/ros2_ws/ | |
| . /opt/ros/${ROS_DISTRO}/local_setup.sh | |
| colcon test --event-handlers console_direct+ --packages-select gz_ros2_control gz_ros2_control_demos gz_ros2_control_tests | |
| colcon test-result |