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AIRO-1431 Add ros integration tests (#329)
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‎.yamato/PickAndPlaceTests/ros.bash‎

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#!/bin/bash
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# Assuming this script is invoked from the root of the repository...
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help() {
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echo "usage: $0 [COMMAND] [ROS]"
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echo "COMMAND:"
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echo " - stop"
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echo " - build_pick_and_place"
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echo " - start_pick_and_place"
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echo " - build_ros"
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echo " - start_ros"
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echo " - run_ros_color_publisher"
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echo " - run_ros_pose_service_client"
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echo " - run_ros_position_service"
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echo "ROS"
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echo " - ros1"
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echo " - ros2"
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}
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COMMAND=$1
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ROS=$2
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if [ "$COMMAND" == "stop" ]; then
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echo "Terminating process $3"
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pkill -15 -P $3
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sleep 10
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elif [ "$COMMAND" == "build_pick_and_place" ]; then
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source /opt/ros/noetic/setup.bash
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pushd $PWD
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cd tutorials/pick_and_place/ROS
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catkin_make
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source devel/setup.bash
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popd
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elif [ "$COMMAND" == "start_pick_and_place" ]; then
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echo "Starting ROS for Pick and Place"
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source tutorials/pick_and_place/ROS/devel/setup.bash
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roslaunch niryo_moveit part_3.launch
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elif [ "$COMMAND" == "build_ros" ]; then
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if [ "$ROS" == "ros1" ]; then
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export ROS_WORKSPACE=$(pwd)/ros1_ws
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mkdir -p $ROS_WORKSPACE/src
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cp -r tutorials/ros_unity_integration/ros_packages/ $ROS_WORKSPACE/src/
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git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint -b main
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/bin/bash tutorials/ros_unity_integration/ros_docker/set-up-workspace
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chmod +x $ROS_WORKSPACE/src/ros_tcp_endpoint/src/ros_tcp_endpoint/*.py
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elif [ "$ROS" == "ros2" ]; then
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export ROS_WORKSPACE=$(pwd)/ros2_ws
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mkdir -p $ROS_WORKSPACE/src
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cp -r tutorials/ros_unity_integration/ros2_packages/ $ROS_WORKSPACE/src/
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git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint -b main-ros2
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source /opt/ros/$ROS_DISTRO/setup.sh
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pushd $(pwd)
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cd $ROS_WORKSPACE
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colcon build
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popd
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else
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help
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fi
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elif [ "$COMMAND" == "start_ros" ]; then
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if [ "$ROS" == "ros1" ]; then
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source ros1_ws/devel/setup.bash
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echo "Starting ROS1 master"
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roscore &
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sleep 5 # Wait ROS master to stand up
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rosparam set ROS_IP 127.0.0.1
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echo "Starting ROS1 default server endpoint"
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rosrun ros_tcp_endpoint default_server_endpoint.py
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elif [ "$ROS" == "ros2" ]; then
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source ros2_ws/install/setup.bash
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echo "Starting ROS2 default server endpoint"
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ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=127.0.0.1
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else
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help
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fi
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elif [ "$COMMAND" == "run_ros_color_publisher" ]; then
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if [ "$ROS" == "ros1" ]; then
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source ros1_ws/devel/setup.bash
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elif [ "$ROS" == "ros2" ]; then
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source ros2_ws/install/setup.bash
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else
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help
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fi
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echo "Starting to run $ROS color publisher every 30 seconds"
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count=0
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while [[ $count -le 6 ]]
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do
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sleep 5
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if [ "$ROS" == "ros1" ]; then
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rosrun unity_robotics_demo color_publisher.py
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elif [ "$ROS" == "ros2" ]; then
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ros2 run unity_robotics_demo color_publisher
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else
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help
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fi
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count=$(( $count + 1 ))
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done
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echo "Completed run: $ROS color publisher"
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elif [ "$COMMAND" == "run_ros_pose_service_client" ]; then
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if [ "$ROS" == "ros1" ]; then
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source ros1_ws/devel/setup.bash
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elif [ "$ROS" == "ros2" ]; then
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source ros2_ws/install/setup.bash
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else
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help
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fi
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echo "Starting to run $ROS pose service client and send requests every 30 seconds"
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count=0
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while [[ $count -le 6 ]]
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do
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sleep 5
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if [ "$ROS" == "ros1" ]; then
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rosservice call /obj_pose_srv Cube
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elif [ "$ROS" == "ros2" ]; then
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ros2 service call obj_pose_srv unity_robotics_demo_msgs/ObjectPoseService "{object_name: Cube}"
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else
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help
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fi
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count=$(( $count + 1 ))
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done
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echo "Completed run: $ROS pose service client"
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elif [ "$COMMAND" == "run_ros_position_service" ]; then
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if [ "$ROS" == "ros1" ]; then
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source ros1_ws/devel/setup.bash
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elif [ "$ROS" == "ros2" ]; then
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source ros2_ws/install/setup.bash
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else
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help
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fi
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echo "Starting $ROS position service"
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if [ "$ROS" == "ros1" ]; then
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rosrun unity_robotics_demo position_service.py
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elif [ "$ROS" == "ros2" ]; then
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ros2 run unity_robotics_demo position_service
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else
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help
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fi
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else
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help
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fi

‎.yamato/PickAndPlaceTests/set-up-integration-tests.py‎

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@@ -17,6 +17,7 @@
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external_scripts_dir = os.path.join(root_dir, "Scripts")
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project_dir = os.path.join(root_dir, "PickAndPlaceProject")
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project_scripts_dir = os.path.join(project_dir, "Assets", "Scripts")
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external_ros_scripts_dir = os.path.join(script_dir, "..", "..", "tutorials", "ros_unity_integration", "unity_scripts")
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# project_settings_file = os.path.join(project_dir, "ProjectSettings", "ProjectSettings.asset")
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scripts_to_move = glob.glob(os.path.join(external_scripts_dir, "*.cs"))
@@ -26,6 +27,13 @@
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print(f">>> Copying {external_script} to {script_destination}")
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shutil.copyfile(external_script, script_destination)
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scripts_to_move = glob.glob(os.path.join(external_ros_scripts_dir, "*.cs"))
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for external_script in scripts_to_move:
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script_name = os.path.basename(external_script)
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script_destination = os.path.join(project_scripts_dir, script_name)
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print(f">>> Copying {external_script} to {script_destination}")
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shutil.copyfile(external_script, script_destination)
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2937
files_to_cat = []
3038
message_dir = os.path.join(project_dir, "Assets", "RosMessages")
3139
print(f">>> Files in {message_dir}:")

‎.yamato/PickAndPlaceTests/set-up-ros-define.py‎

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from unityparser import UnityDocument
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import argparse
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import os
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parser = argparse.ArgumentParser(description='Add ROS define symbols')
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parser.add_argument('ros', type=str, help='ROS version: ros1 or ros2')
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project_settings_filepath = os.path.join(".", "tutorials", "pick_and_place", "PickAndPlaceProject", "ProjectSettings", "ProjectSettings.asset")
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if not os.path.exists(project_settings_filepath):
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raise FileNotFoundError("Not found %s".format(project_settings_filepath))
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settings = UnityDocument.load_yaml(project_settings_filepath)
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symbols = settings.entries[0].scriptingDefineSymbols
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args = parser.parse_args()
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if args.ros == "ros1":
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if symbols[1] is None:
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symbols[1] = "ROS1"
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else:
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symbols[1] += ";ROS1"
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elif args.ros == "ros2":
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if symbols[1] is None:
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symbols[1] = "ROS2"
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else:
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symbols[1] += ";ROS2"
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else:
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raise ValueError("Invalid input ROS version. Must be either ros1 or ros2")
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settings.dump_yaml(project_settings_filepath)
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‎.yamato/PickAndPlaceTests/start-ros.bash‎

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This file was deleted.

‎.yamato/yamato-config.yml‎

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1-
name: Robotics Hub Tests
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agent:
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type: Unity::VM
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image: robotics/ci-ubuntu20:v0.1.0pnp-796097
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flavor: i1.large
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variables:
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PATH: /root/.local/bin:/home/bokken/bin:/home/bokken/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/sbin:/home/bokken/.npm-global/bin
8-
commands:
9-
- git submodule update --init --recursive
10-
# We must remove the Demo.cs script because the System.CodeDom assembly is not in the bokken .NET sdk
11-
- rm ./tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.*
12-
# Ensure audio is disabled. Unity built-in audio fails to initialize in our Bokken image.
13-
- "sed -i -e '/m_DisableAudio/ s/: .*/: 1/' ./tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/AudioManager.asset"
14-
- python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
15-
- unity-downloader-cli -u 2020.3.11f1 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
16-
- git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
17-
# Explicitly run MessageGeneration tests first to generate dependencies
18-
- utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
19-
--artifacts_path=test-results --suite=editor --platform=Editor --editorTestsCategories
20-
MessageGeneration
21-
# Run each category of tests in its own process, in order of increasing complexity
22-
- utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
23-
--artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestCategories UnitTests
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pick_and_place:
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name: Robotics Hub Pick and Place Tests
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agent:
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type: Unity::VM
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image: robotics/ci-ubuntu20:v0.1.0pnp-796097
6+
flavor: i1.large
7+
variables:
8+
PATH: /root/.local/bin:/home/bokken/bin:/home/bokken/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/sbin:/home/bokken/.npm-global/bin
9+
commands:
10+
- sudo ln -s $(which python3) /usr/bin/python
11+
- git submodule update --init --recursive
12+
13+
# We must remove the Demo.cs script because the System.CodeDom assembly is not in the bokken .NET sdk
14+
- rm ./tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.*
15+
16+
# Ensure audio is disabled. Unity built-in audio fails to initialize in our Bokken image.
17+
- "sed -i -e '/m_DisableAudio/ s/: .*/: 1/' ./tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/AudioManager.asset"
18+
- python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
19+
- unity-downloader-cli -u 2020.3.11f1 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
20+
- git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
21+
22+
# Explicitly run MessageGeneration tests first to generate dependencies
23+
- utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
24+
--artifacts_path=test-results --suite=editor --platform=Editor --extra-editor-arg="-nographics"
25+
--category=MessageGeneration
26+
27+
# Run each category of tests in its own process, in order of increasing complexity
28+
- utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
29+
--artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --category=UnitTests
30+
2431
# - utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
2532
#--artifacts_path=test-results --suite=editor --platform=Editor --testfilter BuildTests.PlayerBuilder.BuildPlayerLinux
26-
- python3 .yamato/PickAndPlaceTests/set-up-integration-tests.py
27-
#TODO: Determine how best to capture ROS logging as test artifacts
28-
- sudo ln -s $(which python3) /usr/bin/python && /bin/bash .yamato/PickAndPlaceTests/start-ros.bash
29-
# NOTE: Simply specifying the testCategory is not enough to get a test marked with [Explicit] to run
30-
- utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
31-
--artifacts_path=test-results --suite=editor --platform=Editor --testfilter IntegrationTests.RosIntegrationTests
32-
#TODO: Determine when it would be prudent to run BuildTests and add them here or in a new config
33-
triggers:
34-
cancel_old_ci: true
35-
expression: |
36-
(pull_request.target in ["main", "dev"] AND
37-
NOT pull_request.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"])
38-
artifacts:
39-
logs:
40-
paths:
41-
- "test-results/**/*"
33+
34+
- python3 .yamato/PickAndPlaceTests/set-up-integration-tests.py
35+
36+
# Run Pick and Place Test
37+
# NOTE: Simply specifying the testCategory is not enough to get a test marked with [Explicit] to run
38+
# TODO: Determine how best to capture ROS logging as test artifacts
39+
# TODO: Determine when it would be prudent to run BuildTests and add them here or in a new config
40+
- |
41+
/bin/bash .yamato/PickAndPlaceTests/ros.bash build_pick_and_place
42+
/bin/bash .yamato/PickAndPlaceTests/ros.bash start_pick_and_place &
43+
export PID=$!
44+
utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=editor --platform=Editor --extra-editor-arg="-nographics" --testfilter IntegrationTests.PickAndPlaceIntegrationTests
45+
/bin/bash .yamato/PickAndPlaceTests/ros.bash stop ros1 $PID
46+
47+
triggers:
48+
cancel_old_ci: true
49+
expression: |
50+
(pull_request.target in ["main", "dev"] AND
51+
NOT pull_request.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"])
52+
artifacts:
53+
logs:
54+
paths:
55+
- "test-results/**/*"
56+
57+
{% assign rosDistros = "noetic galactic" | split: " " %}
58+
59+
{% for rosDistro in rosDistros %}
60+
ros_{{rosDistro}}_integration:
61+
name: Robotics Hub ROS {{rosDistro}} Integration Tests
62+
agent:
63+
type: Unity::VM
64+
{% if rosDistro == "noetic" %}
65+
image: robotics/ci-ubuntu20:v0.1.0-795910
66+
{% elsif rosDistro == "galactic" %}
67+
image: robotics/ci-ros2-galactic-ubuntu20:v0.0.2-916903
68+
{% endif %}
69+
flavor: i1.large
70+
variables:
71+
PATH: /root/.local/bin:/home/bokken/bin:/home/bokken/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/sbin:/home/bokken/.npm-global/bin
72+
commands:
73+
# TODO: move to image builders
74+
- sudo ln -s $(which python3) /usr/bin/python
75+
# TODO: move to galactic image builder
76+
- sudo apt update && sudo apt install -y build-essential
77+
78+
- git submodule update --init --recursive
79+
80+
# We must remove the Demo.cs script because the System.CodeDom assembly is not in the bokken .NET sdk
81+
- rm ./tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.*
82+
83+
# Ensure audio is disabled. Unity built-in audio fails to initialize in our Bokken image.
84+
- "sed -i -e '/m_DisableAudio/ s/: .*/: 1/' ./tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/AudioManager.asset"
85+
- python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
86+
- unity-downloader-cli -u 2020.3.11f1 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
87+
- git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
88+
89+
# Explicitly run MessageGeneration tests first to generate dependencies
90+
- utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0
91+
--artifacts_path=test-results --suite=editor --platform=Editor --extra-editor-arg="-nographics"
92+
--category=MessageGeneration
93+
94+
- python3 .yamato/PickAndPlaceTests/set-up-integration-tests.py
95+
96+
# Run ROS Integration Tests
97+
# This step requires to execute set-up-integration-tests.py
98+
# TODO: move ROS_DISTRO exporting to image builder
99+
- |
100+
export ROS_DISTRO=$(ls -1 /opt/ros | head -n1)
101+
if [ $ROS_DISTRO == "noetic" ]; then
102+
ROS=ros1
103+
elif [ $ROS_DISTRO == "galactic" ]; then
104+
ROS=ros2
105+
fi
106+
107+
python3 .yamato/PickAndPlaceTests/set-up-ros-define.py $ROS
108+
109+
/bin/bash .yamato/PickAndPlaceTests/ros.bash build_ros $ROS
110+
/bin/bash .yamato/PickAndPlaceTests/ros.bash start_ros $ROS &
111+
export PID=$!
112+
sleep 10 # Wait for ROS endpoint to stand up
113+
114+
utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=editor --platform=Editor --extra-editor-arg="-nographics" --testfilter IntegrationTests.RosIntegrationTests.RosIntegration_Publisher_Success
115+
116+
/bin/bash .yamato/PickAndPlaceTests/ros.bash run_ros_position_service $ROS &
117+
export POSITION_SERVICE_PID=$!
118+
utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=editor --platform=Editor --extra-editor-arg="-nographics" --testfilter IntegrationTests.RosIntegrationTests.RosIntegration_ServiceClient_Success
119+
/bin/bash .yamato/PickAndPlaceTests/ros.bash stop $ROS $POSITION_SERVICE_PID
120+
121+
/bin/bash .yamato/PickAndPlaceTests/ros.bash run_ros_color_publisher $ROS &
122+
export COLOR_PUBLISHER_PID=$!
123+
utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=editor --platform=Editor --extra-editor-arg="-nographics" --testfilter IntegrationTests.RosIntegrationTests.RosIntegration_Subscriber_Success
124+
/bin/bash .yamato/PickAndPlaceTests/ros.bash stop $ROS $COLOR_PUBLISHER_PID
125+
126+
/bin/bash .yamato/PickAndPlaceTests/ros.bash run_ros_pose_service_client $ROS &
127+
export POSE_SERVICE_PID=$!
128+
utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=editor --platform=Editor --extra-editor-arg="-nographics" --testfilter IntegrationTests.RosIntegrationTests.RosIntegration_ServiceServer_Success
129+
/bin/bash .yamato/PickAndPlaceTests/ros.bash stop $ROS $POSE_SERVICE_PID
130+
131+
/bin/bash .yamato/PickAndPlaceTests/ros.bash stop $ROS $PID
132+
133+
triggers:
134+
cancel_old_ci: true
135+
expression: |
136+
(pull_request.target in ["main", "dev"] AND
137+
NOT pull_request.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"])
138+
OR (push.branch in ["main", "dev"])
139+
artifacts:
140+
logs:
141+
paths:
142+
- "test-results/**/*"
143+
{% endfor %}
144+

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