How to run additional steps in the same environment

[firesurfer]

Hi I am currently using the industrial_ci successfully in our github ci pipeline.
Now I would like to add additional steps that are run in the same environment. In this specific case I would like to run xacro on our urdf.xacro files in order to test if certain configuration can be processed successfully.

What I tried so far:

1. Add an additional step after:

      - uses: 'ros-industrial/industrial_ci@master'
        env:
          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
          ROS_DISTRO: ${{ inputs.ros_distro }}
          ROS_REPO: ${{ inputs.ros_repo }}
      - name: Xacro
        run: |
            xacro <path to xacro file>

2. Use the AFTER_SCRIPT to run the same command

In both cases it looks like the command is not run in the same environment as the one the industrial_ci pipeline runs in. (command xacro not found)

So the question is:
How can I run a custom command in the same environment after the build has finished?

[mathias-luedtke]

How can I run a custom command in the same environment after the build has finished?

There is no shared environment! All commands create their custom environment as needed.

Add an additional step after:

This only works, if you run it on the target Ubuntu version with ISOLATION: shell

Use the AFTER_SCRIPT to run the same command

This should work!

But in both cases you will have to source setup.bash, for example by prefixing your command with rosenv, see
https://github.com/ros-industrial/industrial_ci/blob/master/doc/index.rst#customize-within-the-ci-process for details.