Make tests pass on ROS 2 (#124)

* Install the test assets to the share directory; otherwise the tests cannot locate the files to install

* Check for the systemd config file, not upstart. Upstart check left but commented-out for legacy & reference

* Add github workflows

* Modify CI to make sure tests are run

* Specify container

* Roll back to official template (https://github.com/marketplace/actions/ros-2-ci-action), explicitly set skip-tests to false

* Add CI for other supported ROS distros

* Remove Foxy

* Improve workspace fallback

* Fix build status in the README

* Set branches for CI (this repo also has ROS 1 branches we don't care about testing with the new CI)

Author: civerachb-cpr

.github/workflows/ci.yml

@@ -0,0 +1,42 @@
+name: robot_upstart_ci
+
+on:
+  push:
+    branches: [foxy-devel]
+  pull_request:
+    branches: [foxy-devel]
+
+jobs:
+  jazzy_ci:
+    name: Jazzy
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/[email protected]
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: jazzy
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: jazzy
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          skip-tests: false
+          package-name:
+            robot_upstart
+
+  humble_ci:
+    name: Humble
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/[email protected]
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: humble
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: humble
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          skip-tests: false
+          package-name:
+            robot_upstart

README.md

@@ -1,4 +1,3 @@
-robot_upstart [![Build Status](https://travis-ci.org/clearpathrobotics/robot_upstart.svg?branch=jade-devel)](https://travis-ci.org/clearpathrobotics/robot_upstart)
-=============
+# robot_upstart [![robot_upstart_ci](https://github.com/clearpathrobotics/robot_upstart/actions/workflows/ci.yml/badge.svg?branch=foxy-devel)](https://github.com/clearpathrobotics/robot_upstart/actions/workflows/ci.yml)
 
 Clearpath Robotics presents a suite of scripts to assist with launching background ROS processes on Ubuntu Linux PCs. Please see the [generated documentation](http://docs.ros.org/latest-available/api/robot_upstart/html/) and [ROS Wiki](http://wiki.ros.org/robot_upstart).

robot_upstart/job.py

@@ -82,13 +82,18 @@ def __init__(self, name="ros", rmw=None, rmw_config=None, interface=None,
         # Fall back on current user as the user to run ROS as.
         self.user = user or getpass.getuser()
 
-        # Fall back on current workspace setup file if not explicitly specified.
-        self.workspace_setup = workspace_setup or \
-            os.environ['CMAKE_PREFIX_PATH'].split(':')[0] + '/../setup.bash'
-
         # Fall back on current distro if not otherwise specified.
         self.rosdistro = rosdistro or os.environ['ROS_DISTRO']
 
+        # Prioritize specified workspace, falling back to current workspace if possible, or
+        # system workspace as a last-resort
+        if workspace_setup:
+            self.workspace_setup = workspace_setup
+        elif 'CMAKE_PREFIX_PATH' in os.environ.keys():
+            self.workspace_setup = os.environ['CMAKE_PREFIX_PATH'].split(':')[0] + '/../setup.bash'
+        else:
+            self.workspace_setup = f'/opt/ros/{self.rosdistro}/setup.bash'
+
         self.rmw = rmw or "rmw_fastrtps_cpp"
 
         self.rmw_config = rmw_config or ""

setup.py

@@ -15,6 +15,8 @@
         (os.path.join('lib', PACKAGE_NAME, 'scripts'), glob('scripts/*')),
         (os.path.join('share', PACKAGE_NAME, 'scripts'), glob('scripts/*')),
         (os.path.join('share', PACKAGE_NAME, 'templates'), glob('templates/*')),
+        (os.path.join('share', PACKAGE_NAME, 'test'), glob('test/*.py')),
+        (os.path.join('share', PACKAGE_NAME, 'test/launch'), glob('test/launch/*.launch')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,

test/test_basics.py

@@ -32,7 +32,12 @@ def test_install(self):
 
         self.assertTrue(os.path.exists(self.pjoin("usr/sbin/foo-start")), "Start script not created.")
         self.assertTrue(os.path.exists(self.pjoin("usr/sbin/foo-stop")), "Stop script not created.")
-        self.assertTrue(os.path.exists(self.pjoin("etc/init/foo.conf")), "Upstart configuration file not created.")
+
+        # Systemd config
+        self.assertTrue(os.path.exists(self.pjoin("etc/systemd/system/multi-user.target.wants/foo.service")), "Systemd service file not created.")
+
+        # Upstart config
+        #self.assertTrue(os.path.exists(self.pjoin("etc/init/foo.conf")), "Upstart configuration file not created.")
 
         self.assertEqual(0, subprocess.call(["bash", "-n", self.pjoin("usr/sbin/foo-start")]),
                          "Start script not valid bash syntax.")