Harden behavior if a joint is not found in the model #120
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:24.04" | |
ros-distro: "rolling" | |
ros-repo-packages: "-testing" | |
env: | |
DOCKER_IMAGE: ${{ matrix.docker-image }} | |
ROS_DISTRO: ${{ matrix.ros-distro }} | |
ROS_REPO_PACKAGES: ${{ matrix.ros-repo-packages }} | |
container: | |
image: ${{ matrix.docker-image }} | |
steps: | |
- uses: actions/checkout@v4 | |
- name: Setup colcon workspace | |
id: configure | |
shell: bash | |
run: | | |
export DEBIAN_FRONTEND=noninteractive | |
apt update -qq | |
apt install -qq -y lsb-release wget curl gnupg2 git | |
cd .. | |
mkdir -p /home/ros2_ws/src | |
cp -r gz_ros2_control /home/ros2_ws/src/ | |
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | |
echo "deb [arch=$(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 | |
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 | |
cd /home/ros2_ws/src/ | |
rosdep init | |
rosdep update | |
rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --ignore-src | |
- name: Build project | |
id: build | |
run: | | |
cd /home/ros2_ws/ | |
. /opt/ros/${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 |