vallab / ros2_ci

ros2 ci

ROS Galactic

Jenkins Setup for ROS2 CI for ROS waypoint server test

This guide outlines the steps to set up Jenkins for Continuous Integration in the ros2_ci repository. Follow these instructions to ensure the automation of building and testing processes.

GitHub

https://github.com/vallab/ros2_ci

Prerequisites

0. Firstly check whether git authenticity is established. For this paste the command below in the rosject terminal:

   git ls-remote -h -- [email protected]:vallab/ros2_ci.git HEAD

   • if nothing appears that means authenticity is established. You can move forward to step 1.

   • if you get a prompt like below, then please type 'yes' and press enter. This will establish the authenticity.

     The authenticity of host 'github.com (20.27.177.113)' can't be established.
     Are you sure you want to continue connecting (yes/no/[fingerprint])? yes
     

1. Install Jenkins on your server. Shell file for latest Jenkins version is already in the rosject. Paste the command below in your rosject terminal.

   source ~/.bashrc
   cd ~/webpage_ws/ && bash start_jenkins.sh

2. When you see the output "1. Jenkins is running in the background.", it means jenkins has started. Access Jenkins Webpage using two methods. Follow either of below:

   • Paste the command below in your terminal to get the proxy address and click the link to open jenkins in new tab:

      jenkins_address

   • Paste the command below in your terminal to open the txt file that contains the link to jenkins.

      cat ~/jenkins__pid__url.txt

Jenkins Credentials

1. In jenkins webpage, use below as username and password and sign in:

      username: admin
      password: password
   

Jenkins

1. In Jenkins dashboard, you will see "ros2_ci" project which you can build manually by pressing build now button in ros2_ci project page or you can commit some changes in the repository which triggers a build for "ros2_ci"

2. Triggering build through pull request:

• In this repository, add a test.txt file and create a pull request.
• After the pull request is accepted,Click "ros2_ci" or check build exector tab in jenkins.
• Please wait for sometime for build to start (< 1minute), you will see that ros2_ci has started building because of the SCM change.
• Click the build dropdown and select Console Output to check whats happening.
• Docker will pull the image from dockerhub and build the image and run it automatically.
• After build is complete. check the rosject tab where
  • Gazebo with tortoisebot playground world will be launched.
  • Waypoint action server is launched.
  • Tortoisebot successfully goes to the pre defined waypoint.
• When the Tortoisebot reaches the waypoint (robot moves to 1,1), gazebo closes.
• Now go back to jenkins Console Output page and check the colcon test summary which should be successful.

NOTE: Sometimes Gazebo doesnt start in time and result might fail. In that case please build the project in jenkins manually.

NOTE: If robot does not move in gazebo that means, gazebo was not launched properly and you will have to build it again.