albertoezquerro / 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/ritwikrohan/ros2_ci.git

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]:ritwikrohan/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.
     ECDSA key fingerprint is SHA256:p2QAMXNIC1TJYWeIOttrVc98/R1BUFWu3/LiyKgUfQM.
     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: ritwikjenkins
   

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.