CI: add gazebo harmonic testing workflow

Author: Apolo151

.github/workflows/ros2_gz_harmonic_launch_tests.yaml

@@ -0,0 +1,114 @@
+name: ROS 2 Launch Tests
+
+on:
+    push:
+        branches: [main, testing]
+    pull_request:
+        branches: [main, testing]
+    workflow_dispatch:
+
+env:
+    WORLDS_DIR: /opt/jderobot
+    ROS_DISTRO: humble
+
+jobs:
+    launch-tests:
+        runs-on: ubuntu-22.04
+        timeout-minutes: 30
+
+        steps:
+            - name: Create checkout directory with proper permissions
+              run: |
+                  sudo mkdir -p ${{ env.WORLDS_DIR }}
+                  sudo chmod -R 777 ${{ env.WORLDS_DIR }}
+
+            - name: Checkout repository
+              uses: actions/checkout@v3
+
+            - name: copy worlds
+              run: |
+                  sudo cp -r ${{ github.workspace }}/Worlds ${{ env.WORLDS_DIR }}
+
+            - name: Setup ROS 2 Humble
+              run: |
+                  # Add the ROS 2 apt repository with updated key
+                  sudo apt-get update && sudo apt-get install -y curl gnupg lsb-release
+                  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+                  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+                  sudo apt-get update
+                  # Install ROS 2 packages
+                  sudo apt-get install -y ros-humble-ros-base python3-colcon-common-extensions
+
+            - name: "Setup Gazebo"
+              uses: gazebo-tooling/[email protected]
+              with:
+                  required-gazebo-distributions: harmonic
+            - name: "Test Gazebo installation"
+              run: "gz sim --versions"
+
+            # - name: Install Gazebo and dependencies
+            #   run: |
+            #       # First install libunwind-dev to satisfy dependency requirements
+            #       sudo apt-get update
+            #       sudo apt-get install -y libunwind-dev
+
+            #       # Then install the rest of the packages
+            #       sudo apt-get install -y python3-pip python3-pytest-timeout python3-pytest-cov \
+            #         ros-humble-launch-testing ros-humble-launch-testing-ament-cmake \
+            #         ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros ros-humble-xacro \
+            #         ros-humble-joint-state-publisher ros-humble-robot-state-publisher \
+            #         ros-humble-nav2-msgs ros-humble-turtlebot3-msgs
+
+            #       # Install Gazebo separately with --fix-broken option
+            #       sudo apt-get install -y --fix-broken gazebo libgazebo-dev
+
+            - name: Setup Python dependencies
+              run: |
+                  python -m pip install --upgrade pip
+                  if [ -f test/requirements.txt ]; then
+                    pip install -r test/requirements.txt
+                  fi
+                  pip install pytest pytest-timeout pytest-cov
+
+            - name: Configure Gazebo for headless rendering
+              run: |
+                  # Configure display for headless rendering
+                  echo "export GAZEBO_IP=127.0.0.1" >> $GITHUB_ENV
+                  echo "export OGRE_RTT_MODE=Copy" >> $GITHUB_ENV
+                  echo "export DISPLAY=:1" >> $GITHUB_ENV
+
+                  # Configure audio to use null devices
+                  echo "export AUDIODEV=null" >> $GITHUB_ENV
+                  echo "export SDL_AUDIODRIVER=dummy" >> $GITHUB_ENV
+
+                  # Create dummy ALSA config
+                  echo 'pcm.!default { type null; }' > ~/.asoundrc
+                  echo 'ctl.!default { type null; }' >> ~/.asoundrc
+
+                  # Set up virtual framebuffer for visual rendering
+                  sudo apt-get install -y xvfb
+                  Xvfb :1 -screen 0 1280x1024x24 &
+
+                  # Give Xvfb and audio config time to initialize
+                  sleep 3
+
+            - name: add only Harmonic tests to ros package
+              run: sed -i 's|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/test\*\.py")|file(GLOB TEST_FILES "${RI_ROOT_DIR}/test/harmonic/test_*.py")|' CustomRobots/CMakeLists.txt
+
+            - name: Build workspace
+              run: |
+                  source /opt/ros/humble/setup.bash
+                  source /usr/share/gazebo/setup.sh
+                  colcon build --symlink-install --packages-up-to custom_robots
+
+            - name: Run launch tests
+              run: |
+                  source /opt/ros/humble/setup.bash
+                  source install/setup.bash
+                  source /usr/share/gazebo/setup.bash
+                  colcon test --packages-select custom_robots --event-handlers console_direct+ --return-code-on-test-failure
+
+            - name: Show test results
+              if: always()
+              run: |
+                  colcon test-result --verbose

test/test_follow_road.py renamed to test/harmonic/test_follow_road.py

@@ -24,6 +24,7 @@ def generate_test_description():
     # Get absolute path to the launcher
     launcher_path = os.path.join(
         os.path.dirname(os.path.dirname(os.path.abspath(__file__))),
+        "..",
         "Launchers",
         "follow_road.launch.py",
     )
@@ -57,6 +58,10 @@ class TestTopicMsgs(unittest.TestCase):
     @classmethod
     def setUpClass(cls):
         """Set up ROS node for testing."""
+        # Skip all tests if the env var not is set (e.g., IS_HARMONIC=0)
+        if os.environ.get("IS_HARMONIC", "0") == "0":
+            raise unittest.SkipTest("Skipping non-harmonic tests due to IS_HARMONIC=0")
+
         rclpy.init()
         cls.node = rclpy.create_node("test_node")