Use dedicated build for noetic main (#640)

* Use dedicated build for noetic main
* Increase timeout waiting for first action server
* Add full noetic build matrix
* Make the integration test behind a compile flag

Since for our integration tests we would require docker being able to spawn a new container that can't necessarily be expected in any usecase.
Also, with making this optional we don't require docker as a test dependency which also makes the package a lot more lightweight.

.github/workflows/ci_format.yml

@@ -0,0 +1,20 @@
+name: Clang-Format check
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  format_check:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: noetic
+          CLANG_FORMAT_CHECK: file
+          CLANG_FORMAT_VERSION: "9"

.github/workflows/noetic-binary-main.yml

@@ -0,0 +1,22 @@
+name: Noetic Binary Build Main
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '32 5 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: noetic
+      ros_repo: main
+      ref_for_scheduled_build: master

.github/workflows/noetic-binary-testing.yml

@@ -0,0 +1,22 @@
+name: Noetic Binary Build Testing
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '32 5 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: noetic
+      ros_repo: testing
+      ref_for_scheduled_build: master

.github/workflows/noetic-semi-binary-main.yml

@@ -0,0 +1,23 @@
+name: Noetic Semi-Binary Build Main
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '32 5 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: noetic
+      ros_repo: main
+      ref_for_scheduled_build: master
+      upstream_workspace: .noetic.rosinstall

.github/workflows/noetic-semi-binary-testing.yml

@@ -0,0 +1,23 @@
+name: Noetic Semi-Binary Build Testing
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '32 5 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable_ici.yml
+    with:
+      ros_distro: noetic
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      upstream_workspace: .noetic.rosinstall

.github/workflows/reusable_ici.yml

@@ -0,0 +1,50 @@
+name: Reusable industrial_ci workflow
+# original author: Denis Štogl <[email protected]>
+
+on:
+  workflow_call:
+    inputs:
+      ref_for_scheduled_build:
+        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
+        default: ''
+        required: false
+        type: string
+
+      upstream_workspace:
+        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
+        default: ''
+        required: false
+        type: string
+      ros_distro:
+        description: 'ROS_DISTRO variable for industrial_ci'
+        required: false
+        type: string
+      ros_repo:
+        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
+        default: 'main'
+        required: false
+        type: string
+
+jobs:
+  reusable_ici:
+    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
+    runs-on: ubuntu-latest
+    env:
+      DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net'
+      ADDITIONAL_DEBS: 'docker.io'
+    steps:
+      - name: Checkout ${{ inputs.ref }} when build is not scheduled
+        if: ${{ github.event_name != 'schedule' }}
+        uses: actions/checkout@v3
+      - name: Checkout ${{ inputs.ref }} on scheduled build
+        if: ${{ github.event_name == 'schedule' }}
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ inputs.ref_for_scheduled_build }}
+      - run: docker network create --subnet=192.168.56.0/24 ursim_net
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
+          ROS_DISTRO: ${{ inputs.ros_distro }}
+          ROS_REPO: ${{ inputs.ros_repo }}
+          CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON

ur_robot_driver/CMakeLists.txt

@@ -8,6 +8,14 @@ if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE RelWithDebInfo)
 endif()
 
+# Default to off as this only works in environments where a new docker container can be started with the appropriate networking, which
+# might not be possible e.g. inside the buildfarm
+option(
+  UR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS
+  "Build integration tests using the start_ursim script"
+  OFF
+)
+
 find_package(catkin REQUIRED
   COMPONENTS
     actionlib
@@ -127,7 +135,9 @@ target_link_libraries(controller_stopper_node
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
 
-  add_rostest(test/driver.test)
+  if(${UR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS})
+    add_rostest(test/driver.test)
+  endif()
 endif()
 
 

ur_robot_driver/launch/ur_control.launch

@@ -75,11 +75,11 @@
 
   <!-- spawn controller manager -->
   <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="$(arg controllers)" />
+    output="screen" args="$(arg controllers) --timeout 600" />
 
   <!-- load other controller -->
   <node name="ros_control_stopped_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="--stopped $(arg stopped_controllers)" unless="$(eval arg('stopped_controllers') == '')"/>
+    output="screen" args="--stopped $(arg stopped_controllers) --timeout 600" unless="$(eval arg('stopped_controllers') == '')"/>
 
   <node name="controller_stopper" pkg="ur_robot_driver" type="controller_stopper_node" respawn="false" output="screen">
     <remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>

ur_robot_driver/test/driver.test

@@ -12,6 +12,9 @@
     <arg name="stopped_controllers" value="forward_joint_traj_controller forward_cartesian_traj_controller twist_controller pose_based_cartesian_traj_controller joint_based_cartesian_traj_controller"/>
   </include>
 
+  <node name="ursim" pkg="ur_client_library" type="start_ursim.sh" respawn="false" output="screen">
+  </node>
+
   <!--If the default controller changes, this remap has to be adapted, as well-->
   <remap from="follow_joint_trajectory" to="/scaled_pos_joint_traj_controller/follow_joint_trajectory" />
   <remap from="forward_cartesian_trajectory" to="/forward_cartesian_traj_controller/follow_cartesian_trajectory" />

ur_robot_driver/test/integration_test.py

@@ -53,42 +53,45 @@ def init_robot(self):
         """Make sure the robot is booted and ready to receive commands"""
 
         rospy.init_node('ur_robot_driver_integration_test')
+        # In CI we pull the docker image when this test is started. So, we wait a little longer for
+        # the first service...
+        initial_timeout = rospy.Duration(300)
         timeout = rospy.Duration(30)
 
         self.set_mode_client = actionlib.SimpleActionClient(
             '/ur_hardware_interface/set_mode', SetModeAction)
-        if not self.set_mode_client.wait_for_server(timeout):
+        if not self.set_mode_client.wait_for_server(initial_timeout):
             self.fail(
                 "Could not reach set_mode action. Make sure that the driver is actually running."
-                " Msg: {}".format(err))
+            )
 
         self.trajectory_client = actionlib.SimpleActionClient(
             'follow_joint_trajectory', FollowJointTrajectoryAction)
         if not self.trajectory_client.wait_for_server(timeout):
             self.fail(
                 "Could not reach controller action. Make sure that the driver is actually running."
-                " Msg: {}".format(err))
+            )
 
         self.cartesian_passthrough_trajectory_client = actionlib.SimpleActionClient(
             'forward_cartesian_trajectory', FollowCartesianTrajectoryAction)
         if not self.cartesian_passthrough_trajectory_client.wait_for_server(timeout):
             self.fail(
                 "Could not reach cartesian passthrough controller action. Make sure that the driver is actually running."
-                " Msg: {}".format(err))
+            )
 
         self.joint_passthrough_trajectory_client = actionlib.SimpleActionClient(
             'forward_joint_trajectory', FollowJointTrajectoryAction)
         if not self.joint_passthrough_trajectory_client.wait_for_server(timeout):
             self.fail(
                 "Could not reach joint passthrough controller action. Make sure that the driver is actually running."
-                " Msg: {}".format(err))
+            )
 
         self.cartesian_trajectory_client = actionlib.SimpleActionClient(
             'follow_cartesian_trajectory', FollowCartesianTrajectoryAction)
         if not self.cartesian_trajectory_client.wait_for_server(timeout):
             self.fail(
                 "Could not reach cartesian controller action. Make sure that the driver is actually running."
-                " Msg: {}".format(err))
+            )
 
         self.set_io_client = rospy.ServiceProxy('/ur_hardware_interface/set_io', SetIO)
         try: