From 818167c378ea70b97d8546c693bc2534cc2efa7a Mon Sep 17 00:00:00 2001
From: Jon Binney <jon.binney@gmail.com>
Date: Sat, 19 Jun 2021 12:29:22 -0400
Subject: [PATCH 1/4] Bash script to run tests in CI

---
 .github/workflows/ros1_ci.yml | 23 ++++-------------------
 ci.sh                         | 19 +++++++++++++++++++
 2 files changed, 23 insertions(+), 19 deletions(-)
 create mode 100755 ci.sh

diff --git a/.github/workflows/ros1_ci.yml b/.github/workflows/ros1_ci.yml
index e03efdd9..53920706 100644
--- a/.github/workflows/ros1_ci.yml
+++ b/.github/workflows/ros1_ci.yml
@@ -1,4 +1,4 @@
-name: CMake
+name: Build and run ROS tests
 
 on:
   push:
@@ -6,31 +6,16 @@ on:
   pull_request:
     branches: [ kinetic-devel ]
 
-env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
-  BUILD_TYPE: Release
-
 jobs:
   build:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # well on Windows or Mac.  You can convert this to a matrix build if you need
-    # cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
     runs-on: ubuntu-latest
-    
+
     container:
       image: ros:noetic-robot
 
     steps:
     - uses: actions/checkout@v2
 
-    - name: Build
-      # Build your program with the given configuration
-      run: cd ${{github.workspace}} && . /opt/ros/noetic/setup.sh && catkin build && catkin build
+    - name: Build and run tests
+      run: ./ci.sh
 
-    - name: Test
-      working-directory: ${{github.workspace}}/build
-      # Execute tests defined by the CMake configuration.  
-      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-      run: ctest -C ${{env.BUILD_TYPE}}
-      
diff --git a/ci.sh b/ci.sh
new file mode 100755
index 00000000..fd23e37a
--- /dev/null
+++ b/ci.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# Should be run from the root directory of the repo.
+BUILD_DIR=build
+
+cmake -B ${BUILD_DIR} -DCATKIN_ENABLE_TESTING=1
+
+# Build.
+make -C ${BUILD_DIR}
+
+# Build the tests.
+make -C ${BUILD_DIR} tests
+
+# Run the tests.
+make -C ${BUILD_DIR} test
+
+# Summarize test results (also sets the exit status for the script)
+catkin_test_results
+

From 014f17d7a314b2977281d1fe9a86ab7b006234e5 Mon Sep 17 00:00:00 2001
From: Jon Binney <jon.binney@gmail.com>
Date: Sat, 19 Jun 2021 12:41:09 -0400
Subject: [PATCH 2/4] Source ROS setup file before running CI script

---
 .github/workflows/ros1_ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ros1_ci.yml b/.github/workflows/ros1_ci.yml
index 53920706..41b27822 100644
--- a/.github/workflows/ros1_ci.yml
+++ b/.github/workflows/ros1_ci.yml
@@ -17,5 +17,5 @@ jobs:
     - uses: actions/checkout@v2
 
     - name: Build and run tests
-      run: ./ci.sh
+      run: . /opt/ros/noetic/setup.sh && ./ci.sh
 

From a951994d4248d59012a77b0481d7526ea05da80b Mon Sep 17 00:00:00 2001
From: Jon Binney <jon.binney@gmail.com>
Date: Sat, 19 Jun 2021 12:44:37 -0400
Subject: [PATCH 3/4] Fail CI script on any command error

---
 ci.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ci.sh b/ci.sh
index fd23e37a..34231702 100755
--- a/ci.sh
+++ b/ci.sh
@@ -1,5 +1,8 @@
 #!/bin/bash
 
+# Exit with any error.
+set -e
+
 # Should be run from the root directory of the repo.
 BUILD_DIR=build
 

From 77d01e9891af2708c4d8480323f757576a710fff Mon Sep 17 00:00:00 2001
From: Jon Binney <jon.binney@gmail.com>
Date: Sat, 19 Jun 2021 12:48:01 -0400
Subject: [PATCH 4/4] Run CI script in noetic perception docker image

The robot image doesn't have laser_geometry, which we need.
---
 .github/workflows/ros1_ci.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ros1_ci.yml b/.github/workflows/ros1_ci.yml
index 41b27822..2b34fab8 100644
--- a/.github/workflows/ros1_ci.yml
+++ b/.github/workflows/ros1_ci.yml
@@ -11,7 +11,8 @@ jobs:
     runs-on: ubuntu-latest
 
     container:
-      image: ros:noetic-robot
+      # The perception docker images includes laser_geometry, which we need.
+      image: ros:noetic-perception
 
     steps:
     - uses: actions/checkout@v2