test.yml

name: spot_ros2 CI
on:
  pull_request:
  push:
    branches:
      - main
  workflow_call:
    secrets:
      CODECOV_TOKEN:
        required: true

permissions:
    contents: write

jobs:
  build_and_test_package_and_docs:
    name: build_and_test_package_and_docs
    runs-on: ubuntu-latest
    defaults:
      run:
        shell: bash
    container: ghcr.io/bdaiinstitute/spot_ros2_jammy_humble:main
    steps:
    - name: Checkout repo and submodules
      uses: actions/checkout@v3
      with:
        submodules: recursive
    - name: Build package
      run: |
        apt-get update
        apt install wget 
        ./install_spot_ros2.sh
        # go to root folder
        cd ../../
        source /opt/ros/$ROS_DISTRO/setup.bash
        colcon build --symlink-install
        source install/local_setup.bash
    - name: Test Package
      run: |
        source /opt/ros/$ROS_DISTRO/setup.bash
        source install/local_setup.bash
        # skip testing submodules
        colcon test --python-testing pytest --pytest-with-coverage --event-handlers console_direct+ --packages-skip bdai_ros2_wrappers
      working-directory: ${{ github.workspace }}/../../
    - name: Upload coverage to Coveralls
      uses: coverallsapp/github-action@v2
      with:
        github-token: ${{ secrets.GITHUB_TOKEN }}
        fail-on-error: true
        flag-name: unittests
        debug: true
        files: $(find ../../ -name "coverage.xml" -type f)
    - if: always()
      run: colcon test-result --verbose
      working-directory: ${{ github.workspace }}/../../
    - name: Install docs dependencies & build docs
      run: |
        source /opt/ros/$ROS_DISTRO/setup.bash
        pip install -r docs/requirements.txt
        # go to documentation folder and build the .rst files 
        cd docs
        # we don't use the --implicit-namespaces flag
        sphinx-apidoc -f -o source/ ../ ../*setup* ../examples ../*launch.py ../*command_spot_driver.py
        cd ..
        sphinx-build docs _build -v