frontier_exploration_ros2/.github/workflows/jazzy-test.yml at b0fad500e5c81ad3154f0469ca283b2702a3f90c · mertgulerx/frontier_exploration_ros2 · GitHub

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name: Jazzy Tests

on:
  push:
  pull_request:
  workflow_dispatch:

concurrency:
  group: jazzy-tests-${{ github.ref }}
  cancel-in-progress: true

permissions:
  contents: read

jobs:
  test:
    runs-on: ubuntu-24.04
    container:
      image: ros:jazzy-ros-base-noble

    defaults:
      run:
        shell: bash

    env:
      ROS_DISTRO: jazzy

    steps:
      - name: Checkout repository
        uses: actions/checkout@v5

      - name: Install system dependencies
        run: |
          apt-get update
          apt-get install -y qtbase5-dev

      - name: Install package dependencies
        run: |
          rosdep update
          rosdep install \
            --from-paths . plugin/frontier_exploration_ros2_rviz \
            --ignore-src \
            --rosdistro "$ROS_DISTRO" \
            -r \
            -y

      - name: Build packages for testing
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          colcon build \
            --event-handlers console_direct+ \
            --build-base build-core \
            --install-base install \
            --test-result-base test-results \
            --packages-select frontier_exploration_ros2

          source install/setup.bash
          colcon build \
            --event-handlers console_direct+ \
            --base-paths . plugin/frontier_exploration_ros2_rviz \
            --build-base build-all \
            --install-base install \
            --test-result-base test-results \
            --packages-select frontier_exploration_ros2_rviz \
            --cmake-args -DPython3_EXECUTABLE=/usr/bin/python3

      - name: Run tests
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          source install/setup.bash

          core_status=0
          rviz_status=0
          results_status=0

          colcon test \
            --event-handlers console_direct+ \
            --return-code-on-test-failure \
            --build-base build-core \
            --install-base install \
            --test-result-base test-results \
            --packages-select frontier_exploration_ros2 || core_status=$?

          colcon test \
            --event-handlers console_direct+ \
            --return-code-on-test-failure \
            --base-paths . plugin/frontier_exploration_ros2_rviz \
            --build-base build-all \
            --install-base install \
            --test-result-base test-results \
            --packages-select frontier_exploration_ros2_rviz || rviz_status=$?

          colcon test-result \
            --test-result-base test-results \
            --verbose || results_status=$?

          if (( core_status != 0 || rviz_status != 0 || results_status != 0 )); then
            exit 1
          fi

      - name: Upload test results
        if: always()
        uses: actions/upload-artifact@v6
        with:
          name: jazzy-test-results
          path: |
            test-results
            build-core/**/Testing/**/*.log
            build-all/**/Testing/**/*.log
          if-no-files-found: warn