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MrBearingMrBearing
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add ci and test for native ros and mROS 2
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‎.github/workflows/ci_humble.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: 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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- 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 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: Run IP update script
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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: Build
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run: |
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pwd
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ls -la
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bash build.bash clean
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bash build.bash all echoreply_string
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mv cmake_build cmake_build_echo_reply_strting
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- name: Build TestPrograms
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run: |
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pwd
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ls -la
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bash build.bash clean
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bash build.bash all test_echoreply_string
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- name: Buidl and Run test stub for Test with Comunicate Native ROS
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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_string
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source install/setup.bash
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ls -la
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pwd
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ros2 run mros2_echoreply_string echoreply_node &
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- name: Run Test programs for Comunicate Native ROS
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run : |
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./cmake_build/mros2-posix
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# - name: Run Test for Comunicate mROS to mROS

‎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 $1}')
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# IPアドレスをドットで分割
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IFS='.' read -r -a IP_PARTS <<< "$IP_ADDRESS"
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# 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]}, ${IP_PARTS[3]}};\
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\/\/ Needs to be set in lwipcfg.h too./" \
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include/rtps/config.h
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# 変更結果を確認
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# include/netif.h のIPアドレス置換
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sed -i 's/#define NETIF_IPADDR ".*"/#define NETIF_IPADDR "'$IP_ADDRESS'"/' 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_echoreply_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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)

‎workspace/test_echoreply_string/app.cpp‎

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/**
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* このプログラムとechoreply_stringを使う
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* 10回くらい送信して返ってくるかチェックする
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*/
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#include "mros2.h"
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#include "std_msgs/msg/string.hpp"
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#include "cmsis_os.h"
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#include "netif.h"
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#include "netif_posix_add.h"
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#include <stdio.h>
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#include <string.h>
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#include <pthread.h>
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bool result = true;
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auto TestMessagePreFix = "TestMessage";
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std::string expect = "";
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int sub_counter = 0;
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pthread_mutex_t mutex_expect_sting;
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void userCallback(std_msgs::msg::String *msg)
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{
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pthread_mutex_lock(&mutex_expect_sting);
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sub_counter++;
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printf("*test count : %d\r\n", sub_counter);
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auto actual = msg->data;
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// FIXME 受信データに改行や不要な文字が含まれている模様
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actual.erase(std::remove(actual.begin(), actual.end(), '\n'), actual.end());
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actual.erase(std::remove(actual.begin(), actual.end(), '\r'), actual.end());
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printf("expect : '%s',\r\nactural: '%s'\r\n", expect.c_str(), actual.c_str());
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printf("expect length: %lu, actual length: %lu\r\n", expect.size(), actual.size());
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if (strcmp(expect.c_str(), actual.c_str()) == 0)
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{
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printf("****SUCCEED****'\r\n");
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result = result & true;
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}
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else
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{
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printf("FAIL different data responsed.\r\n");
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result = result & false;
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}
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pthread_mutex_unlock(&mutex_expect_sting);
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printf("\r\n");
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if (sub_counter > 10)
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{
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if (result)
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{
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printf("All tests succeed.\r\n");
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std::exit(0);
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}
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printf("Some tests faild.\r\n");
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std::exit(-1);
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}
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}
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int main(int argc, char *argv[])
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{
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netif_posix_add(NETIF_IPADDR, NETIF_NETMASK);
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osKernelStart();
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printf("mros2-posix start!\r\n");
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printf("app name: echoback_string\r\n");
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mros2::init(0, NULL);
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MROS2_DEBUG("mROS 2 initialization is completed\r\n");
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mros2::Node node = mros2::Node::create_node("mros2_test_node");
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mros2::Publisher pub = node.create_publisher<std_msgs::msg::String>("to_linux", 10);
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auto msg = std_msgs::msg::String();
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msg.data = "initial";
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pub.publish(msg);
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osDelay(1000);
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mros2::Subscriber sub = node.create_subscription<std_msgs::msg::String>("to_stm", 10, userCallback);
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MROS2_INFO("ready to pub/sub message\r\n");
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auto count = 0;
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sub_counter = 0;
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while (true)
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{
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auto msg = std_msgs::msg::String();
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pthread_mutex_lock(&mutex_expect_sting);
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expect = TestMessagePreFix + std::to_string(count++);
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msg.data = expect;
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printf("publishing msg: '%s'\r\n", msg.data.c_str());
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pub.publish(msg);
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pthread_mutex_unlock(&mutex_expect_sting);
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osDelay(1000);
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}
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mros2::spin();
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return 0;
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}

‎workspace/test_echoreply_string/templates.hpp‎

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#include "std_msgs/msg/string.hpp"
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template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::String>(std::string topic_name, int qos);
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template void mros2::Publisher::publish(std_msgs::msg::String &msg);
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template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::String*));
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template void mros2::Subscriber::callback_handler<std_msgs::msg::String>(void *callee, const rtps::ReaderCacheChange &cacheChange);

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