Test timing out

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

.github/actions/build-and-test/action.yaml

@@ -15,6 +15,10 @@ inputs:
     description: string, supports ON or OFF only
     required: false
     default: "OFF"
+  e2e-testing:
+    description: string, supports ON or OFF only
+    required: false
+    default: "OFF"
 
 runs:
   using: composite
@@ -39,7 +43,8 @@ runs:
             "build": {
               "cmake-args": [
                   "-DNAV1_INTEGRATION_TESTING=${{ inputs.nav1-integration-testing }}",
-                  "-DNAV2_INTEGRATION_TESTING=${{ inputs.nav2-integration-testing }}"
+                  "-DNAV2_INTEGRATION_TESTING=${{ inputs.nav2-integration-testing }}",
+                  "-DE2E_TESTING=${{ inputs.e2e-testing }}"
               ],
               "mixin": ["coverage-pytest"]
             },

.github/docker/e2e-tests/e2e-docker-compose.yaml

@@ -0,0 +1,40 @@
+services:
+  minimal-ros1-sim:
+    image: ghcr.io/open-rmf/free_fleet/minimal-ros1-sim:noetic-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+
+  minimal-nav1-bringup:
+    image: ghcr.io/open-rmf/free_fleet/minimal-nav1-bringup:noetic-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+
+  minimal-zenoh-bridge-ros1:
+    image: ghcr.io/open-rmf/free_fleet/minimal-zenoh-bridge-ros1:noetic-latest
+    network_mode: host
+    stdin_open: true
+    tty: true
+
+  minimal-zenoh-router:
+    image: eclipse/zenoh
+    restart: unless-stopped
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - RUST_LOG=debug
+
+  minimal-rmf:
+    image: ghcr.io/open-rmf/free_fleet/minimal-rmf:jazzy-latest
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - ROS_DOMAIN_ID=0
+      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp

.github/docker/minimal-rmf/Dockerfile

@@ -0,0 +1,27 @@
+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG RMF_BRANCH=main
+ARG FREE_FLEET_BRANCH=main
+
+RUN apt update && apt install -y curl ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+
+RUN mkdir -p /rmf && cd /rmf \
+    && curl -sL https://github.com/open-rmf/free_fleet/archive/refs/heads/$FREE_FLEET_BRANCH.tar.gz -o free_fleet.tar.gz \
+    && mkdir -p /rmf/src/free_fleet && tar zxf free_fleet.tar.gz -C /rmf/src/free_fleet --strip-components=1 && rm free_fleet.tar.gz \
+    && curl -sL https://github.com/open-rmf/rmf_demos/archive/refs/heads/$RMF_BRANCH.tar.gz -o rmf_demos.tar.gz \
+    && mkdir -p /rmf/src/rmf_demos && tar zxf rmf_demos.tar.gz -C /rmf/src/rmf_demos --strip-components=1 && rm rmf_demos.tar.gz
+
+RUN rosdep update && rosdep install --from-paths /rmf/src -yi
+
+RUN cd /rmf \
+  && . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --merge-install --install-base /opt/rmf --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to free_fleet_examples \
+  && rm -rf /rmf
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/rmf/setup.bash && ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml"]

.github/workflows/e2e-tests.yaml

@@ -0,0 +1,45 @@
+name: e2e-tests
+
+on: push
+
+jobs:
+  e2e-tests:
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble
+    strategy:
+      matrix:
+        ros_distribution:
+          - jazzy
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: Install docker-compose
+        run: |
+          sudo apt update && sudo apt install docker-compose -y
+
+      - name: Start test fixture containers
+        run: docker-compose -f ".github/docker/e2e-tests/e2e-docker-compose.yaml" up -d --build
+
+      - name: build-and-test
+        uses: ./.github/actions/build-and-test
+        with:
+          ros-distribution: ${{ matrix.ros_distribution }}
+          zenoh-version: 1.1.0
+          e2e-testing: ON
+
+      - name: Stop test fixture containers
+        if: always()
+        run: docker-compose -f ".github/docker/e2e-tests/e2e-docker-compose.yaml" down
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          files: ros_ws/coveragepy/.coverage
+          flags: tests
+          fail_ci_if_error: true
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

.github/workflows/nightly.yaml

@@ -5,9 +5,99 @@ on:
     # 2am SGT
     - cron: '0 18 * * *'
 
+# on: [push]
+
 jobs:
-  build-minimal-nav2-docker-images:
-    name: Push minimal nav2 docker images to GitHub Packages
+  # build-minimal-nav2-docker-images:
+  #   name: Push minimal nav2 docker images to GitHub Packages
+  #   runs-on: ubuntu-latest
+  #   strategy:
+  #     matrix:
+  #       ros_distribution: [jazzy]
+  #   steps:
+  #     - uses: actions/checkout@v4
+
+  #     - name: Set up Docker Buildx
+  #       uses: docker/setup-buildx-action@v3
+
+  #     - name: Login to docker
+  #       uses: docker/login-action@v3
+  #       with:
+  #         registry: ghcr.io
+  #         username: ${{ github.actor }}
+  #         password: ${{ secrets.GITHUB_TOKEN }}
+
+  #     - name: Build and push minimal-nav2-bringup
+  #       uses: docker/build-push-action@v5
+  #       with:
+  #         push: true
+  #         build-args: |
+  #           ROS_DISTRO=${{ matrix.ros_distribution }}
+  #         tags: ghcr.io/${{ github.repository }}/minimal-nav2-bringup:${{ matrix.ros_distribution }}-latest
+  #         context: .github/docker/minimal-nav2-bringup
+
+  #     - name: Build and push minimal-zenoh-bridge-ros2dds
+  #       uses: docker/build-push-action@v5
+  #       with:
+  #         push: true
+  #         build-args: |
+  #           ROS_DISTRO=${{ matrix.ros_distribution }}
+  #           ZENOH_VERSION=1.1.0
+  #           FREE_FLEET_BRANCH=easy-full-control
+  #         tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros2dds:${{ matrix.ros_distribution }}-latest
+  #         context: .github/docker/minimal-zenoh-bridge-ros2dds
+
+  # build-minimal-nav1-docker-images:
+  #   name: Push minimal nav1 docker images to GitHub Packages
+  #   runs-on: ubuntu-latest
+  #   strategy:
+  #     matrix:
+  #       ros_distribution: [noetic]
+  #   steps:
+  #     - uses: actions/checkout@v4
+
+  #     - name: Set up Docker Buildx
+  #       uses: docker/setup-buildx-action@v3
+
+  #     - name: Login to docker
+  #       uses: docker/login-action@v3
+  #       with:
+  #         registry: ghcr.io
+  #         username: ${{ github.actor }}
+  #         password: ${{ secrets.GITHUB_TOKEN }}
+
+  #     - name: Build and push minimal-ros1-sim
+  #       uses: docker/build-push-action@v5
+  #       with:
+  #         push: true
+  #         build-args: |
+  #           ROS_DISTRO=${{ matrix.ros_distribution }}
+  #         tags: ghcr.io/${{ github.repository }}/minimal-ros1-sim:${{ matrix.ros_distribution }}-latest
+  #         context: .github/docker/minimal-ros1-sim
+
+  #     - name: Build and push minimal-nav1-bringup
+  #       uses: docker/build-push-action@v5
+  #       with:
+  #         push: true
+  #         build-args: |
+  #           ROS_DISTRO=${{ matrix.ros_distribution }}
+  #         tags: ghcr.io/${{ github.repository }}/minimal-nav1-bringup:${{ matrix.ros_distribution }}-latest
+  #         context: .github/docker/minimal-nav1-bringup
+
+  #     - name: Build and push minimal-zenoh-bridge-ros1
+  #       uses: docker/build-push-action@v5
+  #       with:
+  #         push: true
+  #         build-args: |
+  #           ROS_DISTRO=${{ matrix.ros_distribution }}
+  #           ZENOH_BRIDGE_REPO=aaronchongth/zenoh-plugin-ros1
+  #           ZENOH_BRIDGE_TAG=namespace
+  #           FREE_FLEET_BRANCH=easy-full-control
+  #         tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros1:${{ matrix.ros_distribution }}-latest
+  #         context: .github/docker/minimal-zenoh-bridge-ros1
+
+  build-minimal-rmf-docker-images:
+    name: Push minimal rmf docker images to GitHub Packages
     runs-on: ubuntu-latest
     strategy:
       matrix:
@@ -25,74 +115,14 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Build and push minimal-nav2-bringup
-        uses: docker/build-push-action@v5
-        with:
-          push: true
-          build-args: |
-            ROS_DISTRO=${{ matrix.ros_distribution }}
-          tags: ghcr.io/${{ github.repository }}/minimal-nav2-bringup:${{ matrix.ros_distribution }}-latest
-          context: .github/docker/minimal-nav2-bringup
-
-      - name: Build and push minimal-zenoh-bridge-ros2dds
-        uses: docker/build-push-action@v5
-        with:
-          push: true
-          build-args: |
-            ROS_DISTRO=${{ matrix.ros_distribution }}
-            ZENOH_VERSION=1.1.0
-            FREE_FLEET_BRANCH=easy-full-control
-          tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros2dds:${{ matrix.ros_distribution }}-latest
-          context: .github/docker/minimal-zenoh-bridge-ros2dds
-
-  build-minimal-nav1-docker-images:
-    name: Push minimal nav1 docker images to GitHub Packages
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        ros_distribution: [noetic]
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Login to docker
-        uses: docker/login-action@v3
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Build and push minimal-ros1-sim
-        uses: docker/build-push-action@v5
-        with:
-          push: true
-          build-args: |
-            ROS_DISTRO=${{ matrix.ros_distribution }}
-          tags: ghcr.io/${{ github.repository }}/minimal-ros1-sim:${{ matrix.ros_distribution }}-latest
-          context: .github/docker/minimal-ros1-sim
-
-      - name: Build and push minimal-nav1-bringup
-        uses: docker/build-push-action@v5
-        with:
-          push: true
-          build-args: |
-            ROS_DISTRO=${{ matrix.ros_distribution }}
-          tags: ghcr.io/${{ github.repository }}/minimal-nav1-bringup:${{ matrix.ros_distribution }}-latest
-          context: .github/docker/minimal-nav1-bringup
-
-      - name: Build and push minimal-zenoh-bridge-ros1
+      - name: Build and push minimal-rmf
         uses: docker/build-push-action@v5
         with:
           push: true
           build-args: |
             ROS_DISTRO=${{ matrix.ros_distribution }}
-            ZENOH_BRIDGE_REPO=aaronchongth/zenoh-plugin-ros1
-            ZENOH_BRIDGE_TAG=namespace
-            FREE_FLEET_BRANCH=easy-full-control
-          tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros1:${{ matrix.ros_distribution }}-latest
-          context: .github/docker/minimal-zenoh-bridge-ros1
+          tags: ghcr.io/${{ github.repository }}/minimal-rmf:${{ matrix.ros_distribution }}-latest
+          context: .github/docker/minimal-rmf
 
   nav1-integration-tests:
     needs: build-minimal-nav1-docker-images

free_fleet_adapter/CMakeLists.txt

@@ -64,6 +64,18 @@ if(BUILD_TESTING)
         WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
       )
     endforeach()
+  elseif (E2E_TESTING)
+    set(_pytest_tests
+      tests/e2e/test_nav1_fleet_adapter.py
+    )
+    foreach(_test_path ${_pytest_tests})
+      get_filename_component(_test_name ${_test_path} NAME_WE)
+      ament_add_pytest_test(${_test_name} ${_test_path}
+        APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+        TIMEOUT 60
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+      )
+    endforeach()
   endif()
 endif()