CI of RobotArrayVisualization #39
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| name: CI of RobotArrayVisualization | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| build-and-test: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| build-type: [RelWithDebInfo, Debug] | |
| mc-rtc-version: [head, stable] | |
| compiler: [gcc] | |
| test-name: [TestSingleRobotStateArrayDisplay] | |
| exclude: | |
| - build-type: Debug | |
| mc-rtc-version: stable | |
| include: | |
| - os: ubuntu-20.04 | |
| build-type: RelWithDebInfo | |
| mc-rtc-version: head | |
| compiler: gcc | |
| test-name: TestMultiRobotStateArrayDisplay | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - name: Setup environment variables | |
| run: | | |
| set -e | |
| set -x | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \ | |
| [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \ | |
| [ "${{ matrix.mc-rtc-version }}" == "head" ] && \ | |
| [ "${{ matrix.compiler }}" == "gcc" ] | |
| then | |
| echo "RUN_RECORDING_STEPS=true" >> $GITHUB_ENV | |
| else | |
| echo "RUN_RECORDING_STEPS=false" >> $GITHUB_ENV | |
| fi | |
| echo "DISPLAY=:1" >> $GITHUB_ENV | |
| - name: Install dependencies | |
| uses: jrl-umi3218/github-actions/install-dependencies@master | |
| with: | |
| ubuntu: | | |
| apt-mirrors: | |
| mc-rtc: | |
| cloudsmith: mc-rtc/${{ matrix.mc-rtc-version }} | |
| apt: librbdyn-dev doxygen graphviz | |
| ros: | | |
| apt: ros-base | |
| - name: Setup display | |
| run: | | |
| set -e | |
| set -x | |
| sudo apt-get install -y -qq xvfb ffmpeg mesa-utils fluxbox xserver-xorg xserver-xorg-core xserver-xorg-video-all libwayland-egl1-mesa | |
| Xvfb ${{ env.DISPLAY }} -screen 0 1920x1080x24 & | |
| sleep 10s | |
| fluxbox 2> /dev/null & | |
| - name: Catkin build | |
| uses: jrl-umi3218/github-actions/build-catkin-project@master | |
| with: | |
| build-type: ${{ matrix.build-type }} | |
| catkin-test-args: --no-deps | |
| build-packages: robot_array_rviz_plugins | |
| test-packages: robot_array_rviz_plugins | |
| - name: Record video | |
| if: env.RUN_RECORDING_STEPS == 'true' | |
| run: | | |
| . ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash | |
| set -e | |
| set -x | |
| ffmpeg -y -f x11grab -s 1920x1080 -r 30 -i ${DISPLAY} -qscale 0 -vcodec huffyuv /tmp/video.avi > /dev/null 2>&1 < /dev/null & | |
| FFMPEG_PID=$! | |
| sleep 1s | |
| rostest robot_array_rviz_plugins ${{ matrix.test-name }}.test --text | |
| sleep 5s | |
| kill -2 ${FFMPEG_PID} | |
| sleep 5s | |
| mkdir -p /tmp/results | |
| ffmpeg -nostats -i /tmp/video.avi /tmp/results/RARP-video-${{ matrix.test-name }}.mp4 | |
| - name: Upload video | |
| if: env.RUN_RECORDING_STEPS == 'true' | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: RARP-ci-results | |
| path: /tmp/results |