Add arming and fix node closing issue in cflib #203
Workflow file for this run
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| name: System Tests Simulation | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| # manual trigger | |
| workflow_dispatch: | |
| jobs: | |
| build: | |
| runs-on: self-hosted | |
| steps: | |
| - name: Build firmware | |
| id: step1 | |
| run: | | |
| ls crazyflie-firmware || git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git | |
| cd crazyflie-firmware | |
| git pull | |
| git submodule sync | |
| git submodule update --init --recursive | |
| make cf2_defconfig | |
| make bindings_python | |
| cd build | |
| python3 setup.py install --user | |
| - name: Create workspace | |
| id: step2 | |
| run: | | |
| cd ros2_ws/src || mkdir -p ros2_ws/src | |
| - name: Checkout motion capture package | |
| id: step3 | |
| run: | | |
| cd ros2_ws/src | |
| ls motion_capture_tracking || git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git | |
| cd motion_capture_tracking | |
| git pull | |
| git submodule sync | |
| git submodule update --recursive --init | |
| - name: Checkout Crazyswarm2 | |
| id: step4 | |
| uses: actions/checkout@v4 | |
| with: | |
| path: ros2_ws/src/crazyswarm2 | |
| submodules: 'recursive' | |
| - name: Build workspace | |
| id: step5 | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| cd ros2_ws | |
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| - name: Flight test | |
| id: step6 | |
| run: | | |
| cd ros2_ws | |
| source /opt/ros/humble/setup.bash | |
| . install/local_setup.bash | |
| export PYTHONPATH="${PYTHONPATH}:/home/github/actions-runner/_work/crazyswarm2/crazyswarm2/crazyflie-firmware/build/" | |
| export ROS_LOCALHOST_ONLY=1 | |
| export ROS_DOMAIN_ID=99 | |
| python3 src/crazyswarm2/systemtests/test_flights.py --sim -v #-v is verbose argument of unittest | |
| - name: Upload files | |
| id: step7 | |
| if: '!cancelled()' | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: pdf_rosbags_and_logs | |
| path: | | |
| ros2_ws/results | |