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MrBearingMrBearing
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add CI and Test
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‎.github/workflows/humble_docker_test.yaml‎

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name: Humble_test_with_docker_NativeROS_string
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on:
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push:
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branches:
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- "main"
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pull_request:
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types: [opened, synchronize, labeled]
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jobs:
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ci:
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runs-on: ${{ matrix.os }}
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if: |
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((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
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((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
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(github.ref_name == 'main')
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container:
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image: osrf/ros:${{ matrix.ros_distribution }}-desktop
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timeout-minutes: 5
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-22.04]
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ros_distribution: [humble]
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steps:
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- name: Checkout code
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uses: actions/checkout@v3
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with:
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submodules: recursive
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v1
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- name: Install Docker Compose
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run: sudo apt-get update && sudo apt-get install -y docker-compose
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# docker-compose.yml を使ってコンテナを起動
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- name: Build and run containers
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run: docker-compose up -d
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- name: Wait for containers to start
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run: sleep 20 # コンテナが確実に起動するのを待つ時間を長くする
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- name: List running containers
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run: docker ps -a # 全コンテナが起動しているか確認
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- name: Show container logs # コンテナのログを確認する
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run: |
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docker logs app1
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docker logs app2
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- name: Show IP addresses
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run: |
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docker exec app1 ip addr show eth0
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docker exec app2 ip addr show eth0
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- name: Test communication between containers (ping)
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run: |
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docker exec app1 ping -c 4 172.19.0.3 # app1 から app2 へのPing
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docker exec app2 ping -c 4 172.19.0.2 # app2 から app1 へのPing
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- name: Test TCP connection between containers (netcat)
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run: |
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# app2でポート8080をリスン
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docker exec -d app2 bash -c "nc -l -p 8080"
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# app1からapp2へのTCP接続を確認
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docker exec app1 bash -c "echo 'Test' | nc -w 3 172.19.0.3 8080"
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# app1: ビルドの準備 (chmod +x update_ip.sh と ./update_ip.sh の実行)
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- name: Prepare build in mros
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run: |
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docker cp $GITHUB_WORKSPACE app1:/root/ws_mros # ソースコードをapp1コンテナにコピー
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docker exec app1 bash -c "
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cd /root/ws_mros &&
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chmod +x update_ip.sh && # 権限変更
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./update_ip.sh" # IPアドレス更新スクリプトの実行
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# app1: クリーンビルド
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- name: Clean and build in mros
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run: |
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docker exec app1 bash -c "
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cd /root/ws_mros &&
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pwd &&
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ls -la &&
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bash build.bash clean && # クリーンアップ
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bash build.bash all test_echoback_string"
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# app2: のコードをコンテナにコピーしてビルド
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- name: Clone Native test stub source code to app2 and build and run
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run: |
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docker exec app2 bash -c "
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source /opt/ros/humble/setup.bash &&
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cd &&
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pwd &&
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ls -la &&
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git clone https://github.com/mROS-base/mros2-host-examples &&
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cd mros2-host-examples &&
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colcon build --packages-select mros2_echoreply_string &&
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ls -la &&
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source install/setup.bash"
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- name: Run mROS and Native ROS
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shell: bash
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run : |
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# テスト対象をバックグラウンドで実行
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docker exec app2 bash -c "source /opt/ros/humble/setup.bash &&
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cd mros2-host-examples &&
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source install/setup.bash &&
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ros2 run mros2_echoreply_string echoreply_node" &
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docker exec app1 bash -c "cd /root/ws_mros && ./cmake_build/mros2-posix" &
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mros_pid=$! # テストプログラムのプロセスIDを取得
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docker ps
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# mROSが終了するまで待つ
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wait $mros_pid
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mros_status=$?
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# 結果に基づいてCIの成否を判断
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if [ $mros_status -eq 0 ] ;then
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echo "Succeed pub/sub test process between mros2 and Native ROS"
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exit 0
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else
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echo "Fail pub/sub test process between mros2 and Native ROS"
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exit 1
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fi
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- name: Tear down containers
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run: docker-compose down

‎.github/workflows/humble_test.yaml‎

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name: ci_humble
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on:
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push:
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branches:
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- "main"
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- "feat/add_ci_config"
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pull_request:
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types: [opened, synchronize, labeled]
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jobs:
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ci:
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runs-on: ${{ matrix.os }}
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if: |
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((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
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((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
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(github.ref_name == 'main')
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container:
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image: osrf/ros:${{ matrix.ros_distribution }}-desktop
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timeout-minutes: 3
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-22.04]
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ros_distribution: [humble]
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comm-target: [native , mros]
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comm-data-type: [string, twist]
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steps:
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- uses: actions/checkout@v3
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with:
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submodules: recursive
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- name: update
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run: sudo apt-get update
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- name: setup and install tools
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run: >
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sudo apt-get install -y iproute2 git wget build-essential gcc g++ libssl-dev libreadline-dev
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zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2
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- name: Clone Test Stub
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uses: actions/checkout@v3
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with:
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repository: mROS-base/mros2-host-examples
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path: ws_host/src/mros2-host-examples
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- name: Update IP address
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run: |
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chmod +x update_ip.sh
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./update_ip.sh
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- name: Generate Twist Header files
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if: matrix.comm-data-type == 'twist'
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shell: bash
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run: |
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cd workspace
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python3 ../mros2/mros2_header_generator/header_generator.py geometry_msgs/msg/Twist.msg
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cd -
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- name: Build mROS
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shell: bash
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run: |
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bash build.bash clean
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bash build.bash all test_echoback_${{ matrix.comm-data-type }}
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mv cmake_build/ test_echoback_${{ matrix.comm-data-type }}/
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- name: Build Native ROS responder
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if: matrix.comm-target == 'native'
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shell: bash
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run: |
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cd ws_host/
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source /opt/ros/humble/setup.bash
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colcon build --packages-select mros2_echoreply_${{ matrix.comm-data-type }}
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- name: Build mROS responder
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if: matrix.comm-target == 'mros'
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shell: bash
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run: |
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bash build.bash clean
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bash build.bash all test_echoback_${{ matrix.comm-data-type }}_responder
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- name: Run Testing mROS and Native ROS
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if: matrix.comm-target == 'native'
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shell: bash
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run : |
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./test_echoback_${{ matrix.comm-data-type }}/mros2-posix &
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mros_pid=$! # mROSのプロセスIDを取得
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# Native ROSをバックグラウンドで実行
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cd ws_host/
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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ros2 run mros2_echoreply_${{ matrix.comm-data-type }} echoreply_node &
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# mROSが終了するまで待つ
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wait $mros_pid
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mros_status=$?
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# 結果に基づいてCIの成否を判断
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if [ $mros_status -eq 0 ] ;then
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echo "Succeed pub/sub test process between mros2 and Native ROS"
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exit 0
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else
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echo "Fail pub/sub test process between mros2 and Native ROS"
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exit 1
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fi
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- name: Run mROS and mROS
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if: matrix.comm-target == 'mros'
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shell: bash
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run : |
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./test_echoback_${{ matrix.comm-data-type }}/mros2-posix &
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mros_pid=$! # テストプログラムのプロセスIDを取得
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# テスト対象をバックグラウンドで実行
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./cmake_build/mros2-posix &
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# mROSが終了するまで待つ
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wait $mros_pid
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mros_status=$?
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# 結果に基づいてCIの成否を判断
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if [ $mros_status -eq 0 ] ;then
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echo "Succeed pub/sub test process between mros2 and Native ROS"
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exit 0
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else
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echo "Fail pub/sub test process between mros2 and Native ROS"
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exit 1
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fi

‎README.md‎

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@@ -37,7 +37,7 @@ sudo apt-get update && sudo apt-get install -y \
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libssl-dev libreadline-dev zlib1g-dev \
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make autoconf automake cmake \
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pkg-config curl \
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net-tools netcat
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net-tools netcat jinja2
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```
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Please check the IP address and netmask of the execution environment.

‎docker-compose.yml‎

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version: '3'
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services:
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app1:
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container_name: app1
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image: osrf/ros:humble-desktop # ROS Humble の Ubuntu ベースイメージを使用
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command: >
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bash -c "set -e &&
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apt-get update &&
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apt-get install -y iproute2 iputils-ping git wget build-essential gcc g++ libssl-dev libreadline-dev
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zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2 &&
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echo 'IP address:' &&
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ip addr show eth0 &&
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sleep 600"
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networks:
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test_net:
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ipv4_address: 172.19.0.2
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app2:
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container_name: app2
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image: osrf/ros:humble-desktop # ROS Humble の Ubuntu ベースイメージを使用
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command: >
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bash -c "set -e &&
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apt-get update &&
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apt-get install -y iproute2 iputils-ping git wget build-essential gcc g++ libssl-dev libreadline-dev
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zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2 &&
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echo 'IP address:' &&
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ip addr show eth0 &&
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sleep 600"
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networks:
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test_net:
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ipv4_address: 172.19.0.3
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networks:
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test_net:
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driver: bridge
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ipam:
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config:
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- subnet: 172.19.0.0/16

‎update_ip.sh‎

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#!/bin/bash
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# IPアドレスを取得
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IP_ADDRESS=$(hostname -I | awk '{print $1}')
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if [ -z "$IP_ADDRESS" ]; then
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echo "Error: Failed to retrieve IP address."
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exit 1
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fi
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# ネットマスクを取得（IPアドレスに対応するネットマスクを抽出）
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INTERFACE=$(ip -o addr show | grep "$IP_ADDRESS" | awk '{print $2}')
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NETMASK=$(ip -o -f inet addr show $INTERFACE | awk '/inet/ {print $4}' | cut -d'/' -f2)
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if [ -z "$NETMASK" ]; then
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echo "Error: Failed to retrieve netmask."
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exit 1
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fi
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# CIDRからネットマスクを計算
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function cidr_to_netmask() {
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local cidr=$1
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local mask=""
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local octets=$(( cidr / 8 ))
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local bits=$(( cidr % 8 ))
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for (( i=0; i<4; i++ )); do
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if [ $i -lt $octets ]; then
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mask+="255"
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elif [ $i -eq $octets ]; then
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mask+=$(( 256 - 2**(8-bits) ))
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else
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mask+="0"
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fi
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if [ $i -lt 3 ]; then
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mask+="."
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fi
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done
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echo "$mask"
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}
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NETMASK=$(cidr_to_netmask $NETMASK)
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echo "Retrieved Netmask for IP $IP_ADDRESS: $NETMASK"
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# IPアドレスをドットで分割
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IFS='.' read -r -a IP_PARTS <<< "$IP_ADDRESS"
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# ネットマスクをドットで分割
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IFS='.' read -r -a NETMASK_PARTS <<< "$NETMASK"
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echo "Netmask parts: ${NETMASK_PARTS[0]}, ${NETMASK_PARTS[1]}, ${NETMASK_PARTS[2]}, ${NETMASK_PARTS[3]}"
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# include/rtps/config.h のIPアドレス置換
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echo "Running sed on include/rtps/config.h"
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sed -i "s/[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\},[[:space:]]*[0-9]\{1,3\}[[:space:]]*}; \
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\/\/ Needs to be set in lwipcfg.h too./\
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${IP_PARTS[0]}, ${IP_PARTS[1]}, ${IP_PARTS[2]}, ${IP_PARTS[3]}};\
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\/\/ Needs to be set in lwipcfg.h too./" \
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include/rtps/config.h
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# include/netif.h のIPアドレスとネットマスク置換
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sed -i 's/#define NETIF_IPADDR ".*"/#define NETIF_IPADDR "'$IP_ADDRESS'"/' include/netif.h
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sed -i 's/#define NETIF_NETMASK ".*"/#define NETIF_NETMASK "'$NETMASK'"/' include/netif.h
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# 結果を表示して確認
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echo "Updated IP Address: $IP_ADDRESS"
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echo "Updated include/rtps/config.h:"
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grep -E 'Needs to be set in lwipcfg.h too.' include/rtps/config.h
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echo "Updated include/netif.h:"
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grep -E 'NETIF_IPADDR' include/netif.h

‎workspace/test_echoback_string/Filelists.cmake‎

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set(apl_SRCS
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${PROJECT_SOURCE_DIR}/workspace/${MROS2_APPNAME}/app.cpp
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)

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