ROS - Build/Publish Docker Image and Run Tests #33
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| name: ROS - Build/Publish Docker Image and Run Tests | |
| on: | |
| workflow_dispatch: | |
| release: | |
| types: [published] | |
| jobs: | |
| build_push_testing: | |
| runs-on: ubuntu-20.04 | |
| outputs: | |
| random1: ${{ steps.random1.outputs.random }} | |
| random2: ${{ steps.random2.outputs.random }} | |
| random3: ${{ steps.random3.outputs.random }} | |
| steps: | |
| - id: random1 | |
| run: echo "random=$RANDOM" >> $GITHUB_OUTPUT | |
| - id: random2 | |
| run: echo "random=$RANDOM" >> $GITHUB_OUTPUT | |
| - id: random3 | |
| run: echo "random=$RANDOM" >> $GITHUB_OUTPUT | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Set up QEMU | |
| uses: docker/setup-qemu-action@v1 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v1 | |
| with: | |
| version: latest | |
| - name: Login to Docker Registry | |
| uses: docker/login-action@v1 | |
| with: | |
| registry: docker.io | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_TOKEN }} | |
| - name: Build and push (latest only) | |
| if: github.ref_name == 'main' | |
| uses: docker/build-push-action@v2 | |
| with: | |
| platforms: "linux/amd64" | |
| file: Dockerfile.ros | |
| push: true | |
| build-args: | | |
| ROS_DISTRO=iron | |
| TAG=core | |
| tags: husarnet/ros:iron-ros-core-testing | |
| - name: sleep | |
| run: sleep 2 | |
| # Without Husarnet | |
| test_no_husarnet: | |
| name: Test no-Husarnet setup | |
| needs: build_push_testing | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: run test for ${{ matrix.hostname }} | |
| continue-on-error: true | |
| timeout-minutes: 2 | |
| run: | | |
| cd demo-ros | |
| export ROS_DISTRO=iron | |
| export CHATTER_ROLE=talker | |
| docker compose -f compose.no-husarnet.yaml up | |
| - name: tree | |
| run: cd demo-ros && docker compose logs chatter | tee output.txt | |
| - name: tree | |
| run: tree | |
| - name: show demo-ros/output.txt content | |
| run: cat demo-ros/output.txt | |
| - name: "Check if the log contains 'Hello World' string" | |
| run: "if [[ $(grep 'Hello World' demo-ros/output.txt | wc -l) -eq 0 ]]; then exit 1; fi" | |
| # Fast DDS simple | |
| test_fastdds_simple: | |
| name: Test Fast DDS simple | |
| needs: build_push_testing | |
| runs-on: ubuntu-20.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros-distro: [iron] | |
| chatter-role: [talker, listener] | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: run test for ${{ matrix.chatter-role }} | |
| continue-on-error: true | |
| timeout-minutes: 2 | |
| run: | | |
| cd demo-ros | |
| export ROS_DISTRO=${{ matrix.ros-distro }} | |
| export CHATTER_ROLE=${{ matrix.chatter-role }} | |
| export RMW_IMPLEMENTATION=rmw_fastrtps_cpp | |
| export FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds-simple.xml | |
| export WAIT_HOSTNAMES=talker-${{needs.build_push_testing.outputs.random1}},listener-${{needs.build_push_testing.outputs.random1}} | |
| export JOINCODE=${{ secrets.JOINCODE }} | |
| export HOSTNAME=${{ matrix.chatter-role }}-${{needs.build_push_testing.outputs.random1}} | |
| export HUSARNET_DDS_DEBUG=TRUE | |
| docker compose up husarnet chatter | |
| - name: tree | |
| run: cd demo-ros && docker compose logs chatter | tee output.txt | |
| - name: tree | |
| run: tree | |
| - name: show demo-ros/output.txt content | |
| run: cat demo-ros/output.txt | |
| - name: "Check if the log contains 'Hello World' string" | |
| run: "if [[ $(grep 'Hello World' demo-ros/output.txt | wc -l) -eq 0 ]]; then exit 1; fi" | |
| # Fast DDS discovery server | |
| test_fastdds_ds: | |
| name: Test Fast DDS Discovery Server | |
| needs: build_push_testing | |
| runs-on: ubuntu-20.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - chatter-role: talker | |
| dds-xml: /husarnet-fastdds-ds.xml | |
| hostname: talker | |
| services: husarnet chatter | |
| - chatter-role: listener | |
| dds-xml: /husarnet-fastdds-ds.xml | |
| hostname: listener | |
| services: husarnet chatter | |
| - chatter-role: "listener" | |
| dds-xml: "/husarnet-fastdds-ds.xml" | |
| hostname: ds | |
| services: husarnet chatter discovery-server | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: run test for ${{ matrix.hostname }} | |
| continue-on-error: true | |
| timeout-minutes: 2 | |
| run: | | |
| cd demo-ros | |
| export ROS_DISTRO=iron | |
| export CHATTER_ROLE=${{ matrix.chatter-role }} | |
| export RMW_IMPLEMENTATION=rmw_fastrtps_cpp | |
| export FASTRTPS_DEFAULT_PROFILES_FILE=${{ matrix.dds-xml }} | |
| export WAIT_HOSTNAMES=ds-${{needs.build_push_testing.outputs.random2}} | |
| export ROS_DISCOVERY_SERVER=ds-${{needs.build_push_testing.outputs.random2}}:11811 | |
| export JOINCODE=${{ secrets.JOINCODE }} | |
| export HOSTNAME=${{ matrix.hostname }}-${{needs.build_push_testing.outputs.random2}} | |
| export HUSARNET_DDS_DEBUG=TRUE | |
| docker compose up ${{ matrix.services }} | |
| - name: tree | |
| run: cd demo-ros && docker compose logs chatter | tee output.txt | |
| - name: tree | |
| run: tree | |
| - name: show demo-ros/output.txt content | |
| run: cat demo-ros/output.txt | |
| - name: "Check if the log contains 'Hello World' string" | |
| run: "if [[ $(grep 'Hello World' demo-ros/output.txt | wc -l) -eq 0 ]]; then exit 1; fi" | |
| # Cyclone DDS simple | |
| test_cyclonedds_simple: | |
| name: Test Cyclone DDS simple | |
| needs: build_push_testing | |
| runs-on: ubuntu-20.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros-distro: [iron] | |
| chatter-role: [talker, listener] | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: run test for ${{ matrix.chatter-role }} | |
| continue-on-error: true | |
| timeout-minutes: 2 | |
| run: | | |
| cd demo-ros | |
| export ROS_DISTRO=${{ matrix.ros-distro }} | |
| export CHATTER_ROLE=${{ matrix.chatter-role }} | |
| export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp | |
| export CYCLONEDDS_URI=file:///husarnet-cyclonedds-simple.xml | |
| export WAIT_HOSTNAMES=talker-${{needs.build_push_testing.outputs.random2}},listener-${{needs.build_push_testing.outputs.random3}} | |
| export JOINCODE=${{ secrets.JOINCODE }} | |
| export HOSTNAME=${{ matrix.chatter-role }}-${{needs.build_push_testing.outputs.random3}} | |
| export HUSARNET_DDS_DEBUG=TRUE | |
| docker compose up husarnet chatter | |
| - name: tree | |
| run: cd demo-ros && docker compose logs chatter | tee output.txt | |
| - name: tree | |
| run: tree | |
| - name: show demo-ros/output.txt content | |
| run: cat demo-ros/output.txt | |
| - name: "Check if the log contains 'Hello World' string" | |
| run: "if [[ $(grep 'Hello World' demo-ros/output.txt | wc -l) -eq 0 ]]; then exit 1; fi" | |
| # Push on Docker Hub if tests were finished positively | |
| build_push_production: | |
| runs-on: ubuntu-20.04 | |
| needs: | |
| - test_no_husarnet | |
| - test_fastdds_simple | |
| - test_fastdds_ds | |
| - test_cyclonedds_simple | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros-distro: [iron, humble] | |
| tag: [core, base] | |
| steps: | |
| - name: Print event name and ref name | |
| run: echo "Event name - ${{ github.event_name }}, ref name - ${{ github.ref_name}}" | |
| - name: Checkout | |
| uses: actions/checkout@v2 | |
| - name: Set up QEMU | |
| uses: docker/setup-qemu-action@v1 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v1 | |
| with: | |
| version: latest | |
| - name: Login to Docker Registry | |
| uses: docker/login-action@v1 | |
| with: | |
| registry: docker.io | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_TOKEN }} | |
| - name: Build and push (latest only) | |
| if: github.ref_name == 'main' && github.event_name != 'release' | |
| uses: docker/build-push-action@v2 | |
| with: | |
| platforms: "linux/amd64, linux/arm64" | |
| file: Dockerfile.ros | |
| push: true | |
| build-args: | | |
| ROS_DISTRO=${{ matrix.ros-distro }} | |
| TAG=${{ matrix.tag }} | |
| tags: husarnet/ros:${{ matrix.ros-distro }}-ros-${{ matrix.tag }} | |
| - name: Build and push (release) | |
| if: github.event_name == 'release' | |
| uses: docker/build-push-action@v2 | |
| with: | |
| platforms: "linux/amd64, linux/arm64" | |
| file: Dockerfile.ros | |
| push: true | |
| build-args: | | |
| ROS_DISTRO=${{ matrix.ros-distro }} | |
| TAG=${{ matrix.tag }} | |
| tags: | | |
| husarnet/ros:${{ matrix.ros-distro }}-ros-${{ matrix.tag }} | |
| husarnet/ros:${{ matrix.ros-distro }}-ros-${{ matrix.tag }}-${{ github.ref_name}} |