Specify goal loiter direction (#68) #208
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| name: Build Test | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| build: | |
| runs-on: [self-hosted, linux] | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| # - {rosdistro: 'melodic', container: 'px4io/px4-dev-ros-melodic:2021-12-11'} | |
| - {rosdistro: 'noetic', container: 'px4io/px4-dev-ros-noetic:2021-12-11'} | |
| container: ${{ matrix.config.container }} | |
| steps: | |
| - uses: actions/checkout@v1 | |
| with: | |
| token: ${{ secrets.ACCESS_TOKEN }} | |
| github-token: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Install Dependencies | |
| working-directory: | |
| run: | | |
| apt update | |
| apt install -y python3-wstool libgdal-dev ros-${{matrix.config.rosdistro}}-tf2-geometry-msgs | |
| shell: bash | |
| - name: Build Test | |
| working-directory: | |
| run: | | |
| mkdir -p $HOME/catkin_ws/src; | |
| cd $HOME/catkin_ws | |
| catkin init | |
| catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}" | |
| catkin config --merge-devel | |
| cd $HOME/catkin_ws/src | |
| ln -s $GITHUB_WORKSPACE | |
| cd $HOME/catkin_ws | |
| wstool init src src/terrain-navigation/dependencies.rosinstall | |
| wstool update -t src -j4 | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}} | |
| catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False | |
| catkin build -j$(nproc) -l$(nproc) terrain_navigation_ros | |
| - name: unit_tests | |
| working-directory: | |
| run: | | |
| cd $HOME/catkin_ws/src | |
| catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_ENABLE_TESTING=True | |
| catkin build terrain_planner --no-deps -i --catkin-make-args tests | |
| source $HOME/catkin_ws/devel/setup.bash | |
| status=0 && for f in $HOME/catkin_ws/devel/lib/*/*-test; do $f || exit 1; done | |
| shell: bash |