Enable test for model generation

.github/workflows/generate_models.yml

@@ -4,20 +4,25 @@ name: Automatically generate models and commit to the repo
 
 # Controls when the workflow will run
 on:
+  pull_request:
+      paths:
+        - 'urdf/simmechanics/**'
   push:
     # Triggers the workflow on push or pull request events but only for the master branch
     branches:
         - master
     paths:
         - 'urdf/simmechanics/**'
 
+defaults:
+  run:
+    shell: bash -el {0}
+
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
-  # This workflow contains a single job called "build"
   generate_models:
     # The type of runner that the job will run on
     runs-on: ubuntu-latest
-
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
     - uses: actions/checkout@v2
@@ -29,12 +34,11 @@ jobs:
         channel-priority: true
 
     - name: Dependencies
-      shell: bash
       run: |
         # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
         conda config --remove channels defaults
         # Actual dependencies
-        mamba install python=3.8 yarp idyntree ruby
+        mamba install python=3.8 yarp idyntree ruby cmake compilers make
 
     - name: Generate models
       run: |
@@ -64,11 +68,13 @@ jobs:
         # Prepare ergocub-software build
         mkdir build
         cd build
-        cmake -DERGOCUB_MODEL_GENERATE_SIMMECHANICS=BOOL:ON -DERGOCUB_MODEL_COPY_TO_SRC=BOOL:ON ..
+        cmake -DERGOCUB_MODEL_GENERATE_SIMMECHANICS=BOOL:ON -DERGOCUB_MODEL_COPY_TO_SRC=BOOL:ON -DBUILD_TESTING=BOOL:ON ..
         # Build and run
         make VERBOSE=1
+        ctest --output-on-failure
 
     - name: Create Pull Request
+      if: ${{ github.event_name == 'push' }}
       id: cpr
       uses: peter-evans/create-pull-request@main
       with:

CMakeLists.txt

@@ -22,11 +22,12 @@ option(ERGOCUB_MODEL_GENERATE_SIMMECHANICS "Generate models using the model gene
 option(ERGOCUB_MODEL_COPY_TO_SRC "Copy to sources the generated urdf files" OFF)
 option(BUILD_TESTING "Run tests for the generated models" OFF)
 
+set(BUILD_PREFIX "ergoCub")
 add_subdirectory(urdf)
 
 # TODO to be defined
-#if (BUILD_TESTING)
-#  include( CTest )
-#  enable_testing()
-#  add_subdirectory(tests)
-#endif()
+if (BUILD_TESTING)
+  include( CTest )
+  enable_testing()
+  add_subdirectory(tests)
+endif()

tests/CMakeLists.txt

@@ -0,0 +1,18 @@
+# Tests for generated models
+# We use iDynTree & YARP for the tests
+find_package(iDynTree REQUIRED)
+find_package(YARP     REQUIRED)
+
+add_executable(ergocub-model-test ergocub-model-test.cpp)
+target_link_libraries(ergocub-model-test ${iDynTree_LIBRARIES} YARP::YARP_os)
+
+macro(add_ergocub_model_test yarpRobotName)
+    add_test(NAME ${yarpRobotName}ConsistencyCheck
+             COMMAND ergocub-model-test --model ${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/${yarpRobotName}/model.urdf)
+endmacro()
+
+# Model generated with simmechanics
+if( ERGOCUB_MODEL_GENERATE_SIMMECHANICS )
+    add_ergocub_model_test(ergoCubGazeboV1)
+    add_ergocub_model_test(ergoCubSN000)
+endif()