pycram-ci.yml

name: CI standalone
defaults:
  run:
    shell: bash -ieo pipefail {0}
on:
  push:
    branches:
      - dev
      - master
  pull_request:
    branches:
      - master
      - dev
jobs:
  Build_and_run_Tests:
    runs-on: ubuntu-20.04
    steps:
      - name: Checkout pycram
        uses: actions/checkout@v3
        with:
          path: 'ros_ws/src/pycram'
          repository: ${{github.repository}}
          ref: ${{github.ref}}
          submodules: recursive

      - name: Checkout iai_maps
        uses: actions/checkout@v3
        with:
          path: 'ros_ws/src/iai_maps'
          repository: code-iai/iai_maps
          ref: master
      - name: Checkout iai_robots
        uses: actions/checkout@v3
        with:
          path: 'ros_ws/src/iai_robots'
          repository: code-iai/iai_robots
          ref: master
      - name: Checkout pr2_common
        uses: actions/checkout@v3
        with:
          path: 'ros_ws/src/pr2_common'
          repository: PR2/pr2_common
          ref: master
      - name: Checkout kdl_ik_service
        uses: actions/checkout@v3
        with:
          path: 'ros_ws/src/kdl_ik_service'
          repository: cram2/kdl_ik_service
          ref: master
      - name: Checkout pr2_kinematics
        uses: actions/checkout@v3
        with:
          path: 'ros_ws/src/pr2_kinematics'
          repository: PR2/pr2_kinematics
          ref: kinetic-devel
      - name: install ros and deps
        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: build and source workspace
        run: |
          cd ros_ws
          catkin_make
          echo 'export ROS_HOSTNAME=localhost' >> ~/.bashrc
          echo 'source $GITHUB_WORKSPACE/ros_ws/devel/setup.bash' >> ~/.bashrc
      - name: Install requirements
        run: |
          cd $GITHUB_WORKSPACE/ros_ws/src/pycram
          sudo pip3 install -r requirements.txt
      - name: upgrade numpy
        run: |
          sudo pip3 install --upgrade numpy
      - name: install additional requirements
        run: |
          sudo pip3 install pytest pyjpt mlflow
      - name: start roscore
        run: |
          roslaunch pycram ik_and_description.launch &
      - name: Run Tests
        run: |
          roscd pycram
          pytest -v test