scenario-test #321
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: scenario-test | |
| on: | |
| schedule: | |
| - cron: 0 12 * * * | |
| workflow_dispatch: | |
| push: | |
| branches: | |
| - main | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| scenario-test: | |
| runs-on: ubuntu-24.04 | |
| container: | |
| image: ghcr.io/autowarefoundation/autoware:universe-devel | |
| steps: | |
| - name: Check out repository | |
| uses: actions/checkout@v4 | |
| - name: Install required packages | |
| shell: bash | |
| run: | | |
| apt-get update | |
| apt-get install -y \ | |
| unzip \ | |
| zip \ | |
| curl \ | |
| gnupg2 \ | |
| lsb-release \ | |
| python3-pip \ | |
| git | |
| pip install --upgrade gdown vcs2l | |
| - name: Show memory info | |
| shell: bash | |
| run: free -h | |
| - name: Clone Autoware and Import simulator.repos | |
| shell: bash | |
| run: | | |
| git clone https://github.com/autowarefoundation/autoware.git ~/autoware_ws | |
| cd ~/autoware_ws | |
| mkdir -p src | |
| vcs import src < repositories/simulator.repos | |
| - name: Install ROS dependencies | |
| shell: bash | |
| run: | | |
| cd ~/autoware_ws | |
| source /opt/ros/humble/setup.bash | |
| source /opt/autoware/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Downgrade xmlschema | |
| shell: bash | |
| run: | | |
| pip3 install --user xmlschema==3.4.5 | |
| - name: Build Autoware Workspace | |
| shell: bash | |
| run: | | |
| cd ~/autoware_ws | |
| # Clean the workspace before building to prevent errors from old files | |
| rm -rf build install log | |
| source /opt/ros/humble/setup.bash | |
| source /opt/autoware/setup.bash | |
| # For Disable precompiled headers to reduce memory | |
| export CMAKE_DISABLE_PRECOMPILE_HEADERS=ON | |
| # Build all with sequential executor to reduce RAM spikes | |
| colcon build --symlink-install \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Release \ | |
| --executor sequential | |
| - name: Check Autoware installation | |
| shell: bash | |
| run: | | |
| source ~/autoware_ws/install/setup.bash | |
| ros2 pkg list | grep autoware | |
| - name: Download scenario file | |
| shell: bash | |
| run: | | |
| gdown --id 1Tq7snfDPsuPHPtl50aL5fJY6paiC-HxV -O sample-scenario.yaml | |
| - name: Download sample-map-planning maps | |
| shell: bash | |
| # cspell: ignore 1499_nsbUbIeturZaDj7jhUownh5fvXHd | |
| run: | | |
| mkdir -p $HOME/autoware_map | |
| gdown --id 1499_nsbUbIeturZaDj7jhUownh5fvXHd -O sample-map-planning.zip | |
| unzip sample-map-planning.zip -d $HOME/autoware_map | |
| - name: Fix paths in sample-scenario.yaml | |
| shell: bash | |
| run: | | |
| # I Replace hardcoded user paths with the dynamic $HOME variable | |
| sed -i "s@/home/user/@$HOME/@g" sample-scenario.yaml | |
| - name: Launch scenario_test_runner with diagnostics | |
| shell: bash | |
| run: | | |
| # a stable DDS implementation for CI to prevent crashes that happen before | |
| export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp | |
| SCENARIO_FILE="./sample-scenario.yaml" | |
| source ~/autoware_ws/install/setup.bash | |
| if [ -f "$SCENARIO_FILE" ]; then | |
| echo "Launching scenario_test_runner..." | |
| mkdir -p ./results | |
| ros2 launch scenario_test_runner scenario_test_runner.launch.py \ | |
| architecture_type:=awf/universe/20250130 \ | |
| record:=true \ | |
| scenario:="$SCENARIO_FILE" \ | |
| sensor_model:=sample_sensor_kit \ | |
| vehicle_model:=sample_vehicle \ | |
| initialize_duration:=300 \ | |
| output_directory:=./results \ | |
| simulate_localization:=true \ | |
| initial_pose:="[0.0, 0.0, 0.0]" \ | |
| launch_rviz:=false \ | |
| frame_rate:=1 \ | |
| disable_lanelet_pose_validation:=true 2>&1 | tee scenario_output.log || true | |
| else | |
| echo "ERROR: sample-scenario.yaml is missing!" | |
| exit 1 | |
| fi | |
| - name: Check for Test Failures | |
| shell: bash | |
| run: | | |
| RESULT_FILE="./results/scenario_test_runner/result.junit.xml" | |
| if [ ! -f "$RESULT_FILE" ]; then | |
| echo "::error::Result file not found! Simulation likely crashed." | |
| exit 1 | |
| fi | |
| echo "Checking for failures in $RESULT_FILE..." | |
| # Check for failure or error tags in the JUnit XML | |
| if grep -q -E '<failure|<error' "$RESULT_FILE"; then | |
| echo "::error::Test failures or errors detected." | |
| # Print the contents of the result file for easier debugging in the Actions UI | |
| cat "$RESULT_FILE" | |
| exit 1 | |
| else | |
| echo "Test successfully passed." | |
| fi | |
| - name: Upload Artifacts | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: scenario-test-results-and-logs | |
| path: | | |
| ./results/ | |
| ./scenario_output.log | |
| ~/.ros/log/ | |
| - name: Kill lingering ROS nodes (cleanup) | |
| if: always() | |
| shell: bash | |
| run: | | |
| echo "Killing lingering ROS processes..." | |
| pkill -9 -f ros2 || true | |
| pkill -9 -f scenario_test_runner || true | |
| pkill -9 -f openscenario_interpreter_node || true | |
| pkill -9 -f python || true |