SCXML implementation of BT Control Nodes #369
Workflow file for this run
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| name: Test | |
| # Test the python packages that are part of the toolchain | |
| on: | |
| push: | |
| branches: [ "main" ] | |
| pull_request: | |
| jobs: | |
| test: | |
| strategy: | |
| matrix: | |
| include: | |
| - ros-distro: jazzy | |
| os: ubuntu-24.04 | |
| - ros-distro: humble | |
| os: ubuntu-22.04 | |
| fail-fast: false | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| # Checkout the repository | |
| - name: Checkout repository | |
| uses: actions/checkout@v2 | |
| # Set up ROS | |
| - name: Set up ROS | |
| uses: ros-tooling/[email protected] | |
| with: | |
| required-ros-distributions: ${{ matrix.ros-distro }} | |
| # Get bt_tools TODO: remove after the release of bt_tools | |
| - name: Checkout bt_tools | |
| uses: actions/checkout@v2 | |
| with: | |
| repository: boschresearch/bt_tools | |
| ref: main | |
| path: colcon_ws/src/bt_tools | |
| # Remove unused packages from checked out bt_tools | |
| - name: Remove packages we don't need | |
| run: | | |
| rm -rf colcon_ws/src/bt_tools/bt_live | |
| rm -rf colcon_ws/src/bt_tools/bt_tools | |
| rm -rf colcon_ws/src/bt_tools/bt_tools_common | |
| rm -rf colcon_ws/src/bt_tools/bt_view | |
| # Compile bt_tools TODO: remove after the release of bt_tools | |
| - name: Compile bt_tools | |
| run: | | |
| source /opt/ros/${{ matrix.ros-distro }}/setup.bash | |
| # Install dependencies | |
| cd colcon_ws | |
| rosdep update && rosdep install --from-paths src --ignore-src -y | |
| # Build and install bt_tools | |
| colcon build --symlink-install | |
| # Get smc_storm for testing | |
| - name: Get smc_storm | |
| id: get_smc_storm | |
| run: | | |
| wget https://github.com/convince-project/smc_storm/releases/download/0.0.3/smc_storm_executable.tar.gz | |
| tar -xzf smc_storm_executable.tar.gz | |
| ./install.sh --install-dependencies | |
| # Save the path to the smc_storm executable | |
| echo SMC_STORM_PATH=$PWD/bin/ >> $GITHUB_OUTPUT | |
| # Update pip | |
| - name: Update pip | |
| run: python -m pip install ${{ matrix.os == 'ubuntu-24.04' && '--break-system-packages' || '' }} --upgrade pip | |
| # workaround python 3.12 issue | |
| - name: Install special fork of js2py | |
| run: | | |
| pip install --break-system-packages git+https://github.com/felixonmars/[email protected] | |
| if: ${{ matrix.os == 'ubuntu-24.04' }} | |
| # install the packages | |
| - name: Install packages | |
| run: | | |
| pip install ${{ matrix.os == 'ubuntu-24.04' && '--break-system-packages' || '' }} . | |
| # this solves | |
| # E ValueError: numpy.dtype size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject | |
| - name: Downgrade numpy, networkx to match | |
| run: | | |
| pip install numpy==1.26.4 networkx==2.8.8 | |
| if: ${{ matrix.os == 'ubuntu-22.04' }} | |
| # lint packages | |
| # TODO: add linting | |
| # run the tests | |
| - name: Run tests | |
| run: | | |
| export PATH=$PATH:${{ steps.get_smc_storm.outputs.SMC_STORM_PATH }} | |
| # source /opt/ros/${{ matrix.ros-distro }}/setup.bash | |
| source colcon_ws/install/setup.bash # TODO: remove after the release of bt_tools | |
| pytest-3 -vs test/ |