run-unit-tests.yml

# From https://github.com/marketplace/actions/ros-2-ci-action
name: Run Unit Tests

on:
  workflow_dispatch:

  push:
    branches: [ main ]

  pull_request:
    branches: [ main ]

env:
  PACKAGES: vortex_filtering

jobs:
  test_docker: # Iterates on all ROS 1 and ROS 2 distributions.
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distribution:
          - humble
          - iron

        # Define the Docker image(s) associated with each ROS distribution.
        # The include syntax allows additional variables to be defined, like
        # docker_image in this case. See documentation:
        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
        #
        # Platforms are defined in REP 3 and REP 2000:
        # https://ros.org/reps/rep-0003.html
        # https://ros.org/reps/rep-2000.html
        include:
          # Noetic Ninjemys (May 2020 - May 2025)
          - docker_image: ubuntu:focal
            ros_distribution: noetic
            ros_version: 1

          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: ubuntu:jammy
            ros_distribution: humble
            ros_version: 2

          # Iron Irwini (May 2023 - November 2024)
          - docker_image: ubuntu:jammy
            ros_distribution: iron
            ros_version: 2

          # Rolling Ridley (No End-Of-Life)
          - docker_image: ubuntu:jammy
            ros_distribution: rolling
            ros_version: 2

    container:
      image: ${{ matrix.docker_image }}
    steps:
      - name: setup ROS environment


        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: ${{ matrix.ros_distribution }}
      - name: build and test ROS 1
        if: ${{ matrix.ros_version == 1 }}
        uses: ros-tooling/action-ros-ci@v0.3
        with:
          colcon-defaults: |
            {
              "build": {
                "mixin": ["asan-gcc", "coverage-gcc", "coverage-pytest"]
              },
              "test": {
                "mixin": ["coverage-pytest"]
              }
            }
          package-name: ${{ PACKAGES }}
          target-ros1-distro: ${{ matrix.ros_distribution }}
      - name: build and test ROS 2
        if: ${{ matrix.ros_version == 2 }}
        uses: ros-tooling/action-ros-ci@v0.3
        with:
          colcon-defaults: |
            {
              "build": {
                "mixin": ["asan-gcc", "coverage-gcc", "coverage-pytest"]
              },
              "test": {
                "mixin": ["coverage-pytest"]
              }
            }
          package-name: ${{ PACKAGES }}
          target-ros2-distro: ${{ matrix.ros_distribution }}
      - uses: codecov/codecov-action@v1.2.1
        with:
          token: ${{ secrets.CODECOV_TOKEN }}  # only needed for private repos
          files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
          flags: unittests
          name: codecov-umbrella
      - uses: actions/upload-artifact@v1
        with:
          name: colcon-logs
          path: ${{ steps.action_ros_ci_step.outputs.ros-workspace-directory-name }}/log
        if: always() # upload the logs even when the build fails