2 ➡️ 3 (part 2) (#300)

Signed-off-by: Louise Poubel <[email protected]>

.github/ci-focal/before_cmake.sh

@@ -0,0 +1,8 @@
+#!/bin/sh -l
+
+set -x
+
+# Needed on Focal to get dart6-data for tests
+apt -y install software-properties-common
+apt-add-repository ppa:dartsim/ppa
+apt -y install dart6-data

.github/ci/after_make.sh

@@ -0,0 +1,15 @@
+#!/bin/sh -l
+
+set -x
+
+# Install (needed for some tests)
+make install
+
+# For ign-tools
+export IGN_CONFIG_PATH=/usr/local/share/ignition
+
+# For rendering / window tests
+Xvfb :1 -screen 0 1280x1024x24 &
+export DISPLAY=:1.0
+export RENDER_ENGINE_VALUES=ogre2
+export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/packages-bionic.apt

@@ -0,0 +1,4 @@
+dart6-data
+libdart6-collision-ode-dev
+libdart6-dev
+libdart6-utils-urdf-dev

.github/ci/packages-focal.apt

@@ -0,0 +1,5 @@
+libdart-collision-ode-dev
+libdart-dev
+libdart-external-ikfast-dev
+libdart-external-odelcpsolver-dev
+libdart-utils-urdf-dev

.github/ci/packages.apt

@@ -0,0 +1,15 @@
+libignition-cmake2-dev
+libignition-common3-dev
+libignition-fuel-tools4-dev
+libignition-gui3-dev
+libignition-math6-eigen3-dev
+libignition-msgs5-dev
+libignition-physics2-dev
+libignition-plugin-dev
+libignition-rendering3-dev
+libignition-sensors3-dev
+libignition-tools-dev
+libignition-transport8-dev
+libsdformat9-dev
+qml-module-qtqml-models2
+xvfb

.github/workflows/ci.yml

@@ -0,0 +1,26 @@
+name: Ubuntu CI
+
+on: [push]
+
+jobs:
+  bionic-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Bionic CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@master
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+  # TODO(anyone) Enable Focal CI and fix failing tests
+  # focal-ci:
+  #   runs-on: ubuntu-latest
+  #   name: Ubuntu Focal CI
+  #   steps:
+  #     - name: Checkout
+  #       uses: actions/checkout@v2
+  #     - name: Compile and test
+  #       id: ci
+  #       uses: ignition-tooling/action-ignition-ci@focal

src/ServerPrivate.cc

@@ -387,25 +387,56 @@ void ServerPrivate::SetupTransport()
 {
   // Advertise available worlds.
   std::string worldsService{"/gazebo/worlds"};
-  this->node.Advertise(worldsService, &ServerPrivate::WorldsService, this);
-
-  ignmsg << "Serving world names on [" << worldsService << "]" << std::endl;
+  if (this->node.Advertise(worldsService, &ServerPrivate::WorldsService, this))
+  {
+    ignmsg << "Serving world names on [" << worldsService << "]" << std::endl;
+  }
+  else
+  {
+    ignerr << "Something went wrong, failed to advertise [" << worldsService
+           << "]" << std::endl;
+  }
 
   // Resource path management
   std::string addPathService{"/gazebo/resource_paths/add"};
-  this->node.Advertise(addPathService,
-      &ServerPrivate::AddResourcePathsService, this);
+  if (this->node.Advertise(addPathService,
+      &ServerPrivate::AddResourcePathsService, this))
+  {
+    ignmsg << "Resource path add service on [" << addPathService << "]."
+           << std::endl;
+  }
+  else
+  {
+    ignerr << "Something went wrong, failed to advertise [" << addPathService
+           << "]" << std::endl;
+  }
 
   std::string getPathService{"/gazebo/resource_paths/get"};
-  this->node.Advertise(getPathService,
-      &ServerPrivate::ResourcePathsService, this);
+  if (this->node.Advertise(getPathService,
+      &ServerPrivate::ResourcePathsService, this))
+  {
+    ignmsg << "Resource path get service on [" << addPathService << "]."
+           << std::endl;
+  }
+  else
+  {
+    ignerr << "Something went wrong, failed to advertise [" << getPathService
+           << "]" << std::endl;
+  }
 
   std::string pathTopic{"/gazebo/resource_paths"};
   this->pathPub = this->node.Advertise<msgs::StringMsg_V>(pathTopic);
 
-  ignmsg << "Resource path interfaces on [" << addPathService
-         << "], [" << getPathService << "], and [" << pathTopic << "]."
-         << std::endl;
+  if (this->pathPub)
+  {
+    ignmsg << "Resource paths published on [" << pathTopic << "]."
+           << std::endl;
+  }
+  else
+  {
+    ignerr << "Something went wrong, failed to advertise [" << pathTopic
+           << "]" << std::endl;
+  }
 }
 
 //////////////////////////////////////////////////

src/Server_TEST.cc

@@ -199,8 +199,16 @@ TEST_P(ServerFixture, ServerConfigRealPlugin)
   // make sure the TestModelSystem was successfully loaded.
   transport::Node node;
   msgs::StringMsg rep;
-  bool result;
-  bool executed = node.Request("/test/service", 5000, rep, result);
+  bool result{false};
+  bool executed{false};
+  int sleep{0};
+  int maxSleep{30};
+  while (!executed && sleep < maxSleep)
+  {
+    igndbg << "Requesting /test/service" << std::endl;
+    executed = node.Request("/test/service", 100, rep, result);
+    sleep++;
+  }
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);
   EXPECT_EQ("TestModelSystem", rep.data());
@@ -211,7 +219,6 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin)
 {
   // Start server
   ServerConfig serverConfig;
-  serverConfig.SetUpdateRate(10000);
   serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
       "/test/worlds/air_pressure.sdf");
 
@@ -225,21 +232,32 @@ TEST_P(ServerFixture, ServerConfigSensorPlugin)
       "sensor", "libTestSensorSystem.so", "ignition::gazebo::TestSensorSystem",
       sdf});
 
+  igndbg << "Create server" << std::endl;
   gazebo::Server server(serverConfig);
 
   // The simulation runner should not be running.
   EXPECT_FALSE(*server.Running(0));
 
   // Run the server
+  igndbg << "Run server" << std::endl;
   EXPECT_TRUE(server.Run(false, 0, false));
   EXPECT_FALSE(*server.Paused());
 
   // The TestSensorSystem should have created a service. Call the service to
   // make sure the TestSensorSystem was successfully loaded.
+  igndbg << "Request service" << std::endl;
   transport::Node node;
   msgs::StringMsg rep;
-  bool result;
-  bool executed = node.Request("/test/service/sensor", 5000, rep, result);
+  bool result{false};
+  bool executed{false};
+  int sleep{0};
+  int maxSleep{30};
+  while (!executed && sleep < maxSleep)
+  {
+    igndbg << "Requesting /test/service/sensor" << std::endl;
+    executed = node.Request("/test/service/sensor", 100, rep, result);
+    sleep++;
+  }
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);
   EXPECT_EQ("TestSensorSystem", rep.data());
@@ -761,8 +779,16 @@ TEST_P(ServerFixture, GetResourcePaths)
 
   transport::Node node;
   msgs::StringMsg_V res;
-  bool result;
-  bool executed = node.Request("/gazebo/resource_paths/get", 5000, res, result);
+  bool result{false};
+  bool executed{false};
+  int sleep{0};
+  int maxSleep{30};
+  while (!executed && sleep < maxSleep)
+  {
+    igndbg << "Requesting /gazebo/resource_paths/get" << std::endl;
+    executed = node.Request("/gazebo/resource_paths/get", 100, res, result);
+    sleep++;
+  }
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);
   EXPECT_EQ(2, res.data_size());

src/gui/plugins/CMakeLists.txt

@@ -85,6 +85,7 @@ add_subdirectory(align_tool)
 add_subdirectory(component_inspector)
 add_subdirectory(entity_tree)
 add_subdirectory(grid_config)
+add_subdirectory(resource_spawner)
 add_subdirectory(scene3d)
 add_subdirectory(shapes)
 add_subdirectory(transform_control)

src/gui/plugins/resource_spawner/CMakeLists.txt

@@ -0,0 +1,4 @@
+gz_add_gui_plugin(ResourceSpawner
+  SOURCES ResourceSpawner.cc
+  QT_HEADERS ResourceSpawner.hh
+)