systemtests_sim.yml

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