Fix CI for UPSTREAM_WORKSPACE

- Added upstream workspace envrionment to CI
- Changed ROS version in CI
- Fixed CMakeList.txt and package.xml based on the feedbacks of CI
- Fixed upstream repository urls
- Changed test cases for more convenient benchmarking

.github/workflows/industrial_ci.yml

@@ -7,14 +7,18 @@ jobs:
     name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
     strategy:
       matrix:
-        ROS_DISTRO: [iron]
+        ROS_DISTRO: [rolling]
         ROS_REPO: [testing, main]
+        UPSTREAM_WORKSPACE: [moveit_middleware_benchmark.repos]
+        UPSTREAM_CMAKE_ARGS: [-DCMAKE_BUILD_TYPE=Release --packages-skip test_dynmsg dynmsg_demo]
     env:
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
-        env: # either pass all entries explicitly
+        env:
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
           ROS_REPO: ${{ matrix.ROS_REPO }}
+          UPSTREAM_WORKSPACE: ${{ matrix.UPSTREAM_WORKSPACE }}
+          UPSTREAM_CMAKE_ARGS: ${{ matrix.UPSTREAM_CMAKE_ARGS }}

CMakeLists.txt

@@ -13,6 +13,7 @@ find_package(benchmark REQUIRED)
 find_package(dynmsg REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(ament_index_cpp REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
 add_executable(test_scenario_perception_pipeline
                test/test_scenario_perception_pipeline.cpp)
@@ -24,15 +25,16 @@ ament_target_dependencies(
   "rclcpp"
   "benchmark"
   "dynmsg"
-  "nav_msgs")
+  "nav_msgs"
+  "yaml-cpp")
 
 target_include_directories(
   test_scenario_perception_pipeline
   PUBLIC $<INSTALL_INTERFACE:include>
          $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
 
 target_link_libraries(test_scenario_perception_pipeline
-                      PUBLIC "benchmark::benchmark")
+                      PUBLIC "benchmark::benchmark" ${YAML_CPP_LIBRARIES})
 
 install(TARGETS test_scenario_perception_pipeline
         DESTINATION lib/${PROJECT_NAME})

config/test_scenario_perception_pipeline.yaml

@@ -71,3 +71,87 @@ test_cases:
           z: 0.7
         orientation:
           w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: 0.5
+          z: 0.5
+        orientation:
+          w : 1.0
+    - pose:
+        position:
+          x: 0.5
+          y: -0.5
+          z: 0.7
+        orientation:
+          w: 1.0

launch/test_scenario_perception_pipeline.launch.py

@@ -148,7 +148,7 @@ def generate_launch_description():
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,
             {"use_sim_time": True},
-            {"selected_test_case_index": 0},
+            {"selected_test_case_index": 1},
         ],
     )
 

moveit_middleware_benchmark.repos

@@ -6,12 +6,12 @@ repositories:
   moveit_resources:
     type: git
     url: https://github.com/moveit/moveit_resources.git
-    version: main
+    version: ros2
   rmw_zenoh:
     type: git
     url: https://github.com/ros2/rmw_zenoh.git
-    version: main
+    version: rolling
   dynamic_message_introspection:
     type: git
-    url: git@github.com:osrf/dynamic_message_introspection.git
+    url: https://github.com/osrf/dynamic_message_introspection.git
     version: main

package.xml

@@ -4,7 +4,7 @@
   <name>moveit_middleware_benchmark</name>
   <version>0.0.0</version>
   <description>Middleware Benchmark Tool For MoveIt pipelines</description>
-  <maintainer email="[email protected]">cihat</maintainer>
+  <maintainer email="[email protected]">Cihat Kurtuluş Altıparmak</maintainer>
   <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -15,6 +15,7 @@
   <depend>dynmsg</depend>
   <depend>nav_msgs</depend>
   <depend>ament_index_cpp</depend>
+  <depend>yaml-cpp</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>