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Add rmw zenoh to nightly ci builds (#5516)
* Add rmw zenoh cpp to ci Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Linting Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Sourcing ros Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Use spin all to avoid flaky tests Signed-off-by: Maurice <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix order in AMCL Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Implement nav2_add_test functions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Use nav2_add_test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update key Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Debug circleci Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert key change, try adding cmake args Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Edit config Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update CMakeLists.txt Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update config Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update config Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Update config Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Try updating key Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Default isolated Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Try updating key Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix collision monitor test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add timeout and directory back Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Switch back to cyclonedds Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com>
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‎.circleci/config.yml‎

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@@ -33,12 +33,12 @@ _commands:
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- restore_cache:
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name: Restore Cache << parameters.key >>
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keys:
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- "<< parameters.key >>-v40\
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- "<< parameters.key >>-v42\
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-{{ arch }}\
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-{{ .Branch }}\
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-{{ .Environment.CIRCLE_PR_NUMBER }}\
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-{{ checksum \"<< parameters.workspace >>/lockfile.txt\" }}"
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- "<< parameters.key >>-v40\
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- "<< parameters.key >>-v42\
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-{{ arch }}\
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-main\
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-<no value>\
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steps:
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- save_cache:
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name: Save Cache << parameters.key >>
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key: "<< parameters.key >>-v40\
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key: "<< parameters.key >>-v42\
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-{{ arch }}\
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-{{ .Branch }}\
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-{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -217,7 +217,8 @@ _commands:
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. << parameters.underlay >>/install/setup.sh
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colcon build \
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--packages-select ${BUILD_PACKAGES} \
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--mixin << parameters.mixins >>
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--mixin << parameters.mixins >> \
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--cmake-args -DUSE_ISOLATED_TESTS=ON
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- ccache_stats:
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workspace: << parameters.workspace >>
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when: always
@@ -622,6 +623,7 @@ workflows:
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rmw:
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- rmw_cyclonedds_cpp
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- rmw_fastrtps_cpp
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- rmw_zenoh_cpp
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triggers:
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- schedule:
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cron: "0 13 * * *"

‎Dockerfile‎

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@@ -57,6 +57,7 @@ RUN apt-get update && \
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ros-$ROS_DISTRO-rmw-fastrtps-cpp \
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ros-$ROS_DISTRO-rmw-connextdds \
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ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
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ros-$ROS_DISTRO-rmw-zenoh-cpp \
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&& pip3 install --break-system-packages \
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fastcov \
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git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \

‎nav2_amcl/package.xml‎

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<test_depend>ament_lint_common</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_cmake_ros</test_depend>
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<export>
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<build_type>ament_cmake</build_type>

‎nav2_amcl/src/amcl_node.cpp‎

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@@ -58,6 +58,12 @@ AmclNode::AmclNode(const rclcpp::NodeOptions & options)
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: nav2::LifecycleNode("amcl", "", options)
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{
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RCLCPP_INFO(get_logger(), "Creating");
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init_pose_[0] = 0.0;
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init_pose_[1] = 0.0;
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init_pose_[2] = 0.0;
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init_cov_[0] = 0.0;
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init_cov_[1] = 0.0;
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init_cov_[2] = 0.0;
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}
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AmclNode::~AmclNode()

‎nav2_amcl/test/CMakeLists.txt‎

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@@ -1,4 +1,4 @@
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ament_add_gtest(test_dynamic_parameters
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nav2_add_gtest(test_dynamic_parameters
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test_dynamic_parameters.cpp
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)
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target_link_libraries(test_dynamic_parameters

‎nav2_behavior_tree/package.xml‎

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<test_depend>ament_cmake_gtest</test_depend>
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<test_depend>lifecycle_msgs</test_depend>
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<test_depend>test_msgs</test_depend>
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<test_depend>ament_cmake_ros</test_depend>
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<export>
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<build_type>ament_cmake</build_type>

‎nav2_behavior_tree/test/CMakeLists.txt‎

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ament_add_gtest(test_bt_utils test_bt_utils.cpp)
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nav2_add_gtest(test_bt_utils test_bt_utils.cpp)
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target_link_libraries(test_bt_utils
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${library_name}
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${geometry_msgs_TARGETS}
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)
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ament_add_gtest(test_json_utils test_json_utils.cpp)
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nav2_add_gtest(test_json_utils test_json_utils.cpp)
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target_link_libraries(test_json_utils
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${library_name}
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${geometry_msgs_TARGETS}
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)
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function(plugin_add_test target filename plugin)
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ament_add_gtest(${target} ${filename})
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nav2_add_gtest(${target} ${filename})
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target_link_libraries(${target}
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${geometry_msgs_TARGETS}
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nav2_util::nav2_util_core

‎nav2_behavior_tree/test/plugins/action/CMakeLists.txt‎

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find_package(test_msgs REQUIRED)
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ament_add_gtest(test_bt_action_node test_bt_action_node.cpp)
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nav2_add_gtest(test_bt_action_node test_bt_action_node.cpp)
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target_link_libraries(test_bt_action_node rclcpp::rclcpp ${test_msgs_TARGETS} rclcpp_action::rclcpp_action ${library_name})
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plugin_add_test(test_action_spin_action test_spin_action.cpp nav2_spin_action_bt_node)

‎nav2_behavior_tree/test/plugins/decorator/test_distance_controller.cpp‎

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public:
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void SetUp()
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{
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node_->declare_parameter("transform_tolerance", rclcpp::ParameterValue{0.1});
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config_->input_ports["distance"] = 1.0;
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config_->input_ports["global_frame"] = "map";
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config_->input_ports["robot_base_frame"] = "base_link";

‎nav2_behaviors/package.xml‎

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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_cmake_gtest</test_depend>
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<test_depend>rclcpp_action</test_depend>
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<test_depend>ament_cmake_ros</test_depend>
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<export>
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<build_type>ament_cmake</build_type>

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