spot_ros_unit_tests.yml

name: spot_driver unit tests

# Run on every push
on: [push]

# Environmental variables
env:
  SPOT_ARM: 1

jobs:
  spot_driver-unit-tests:
    # All steps inside this job will run inside the ROS Noetic container
    container: public.ecr.aws/docker/library/ros:noetic
    runs-on: ubuntu-latest
    # Let's ensure we use bash, and work within our catkin worksapce
    defaults:
      run:
        shell: bash
    steps:
      # Create directory to check out the code to
      - name: Create catkin_ws directory
        run: |
          mkdir -p $GITHUB_WORKSPACE/catkin_ws/src

      # Check out the Spot ROS code
      - name: Checkout SpotROS
        uses: actions/checkout@v3
        with:
          path: catkin_ws/src/spot_ros

      - name: Checkout Spot Wrapper
        uses: actions/checkout@v3
        with:
          repository: jeremysee2/spot_wrapper #TODO: Change to bdaiinstitute once merged
          path: catkin_ws/src/spot_ros/spot_wrapper

      # Install the required packages
      - name: Install dependencies (minus qttools)
        run: |
          sudo apt-get update && \
          sudo apt-get install -y \
            python3-pip \
            ros-noetic-tf2-bullet
          pip install cython \
            bosdyn-client \
            bosdyn-mission \
            bosdyn-api \
            bosdyn-core \
            empy
        working-directory: catkin_ws/

      # Install SpotWrapper
      - name: Install SpotWrapper
        run: |
          cd $GITHUB_WORKSPACE/catkin_ws/src/spot_ros
          pip install -r spot_wrapper/requirements.txt
          pip install -e spot_wrapper

      - name: Check that code has been downloaded correctly
        run: |
          ls $GITHUB_WORKSPACE/catkin_ws/src
          ls $GITHUB_WORKSPACE/catkin_ws/src/spot_ros

      # Build our workspace
      - name: Build workspace for spot_driver
        run: |
          source /opt/ros/noetic/setup.bash
          rosdep update
          rosdep install --from-paths src --ignore-src -y
          ls $GITHUB_WORKSPACE/catkin_ws
          catkin_make --only-pkg-with-deps spot_driver
        working-directory: catkin_ws/

      # Run our ROS test!
      - name: Run tests
        run: |
          source devel/setup.bash &&
          rostest spot_driver run_tests.test --text
        working-directory: catkin_ws/