bash #59
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| name: URDF transform | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ros:humble-ros-base | |
| options: --workdir /github/home/ws | |
| steps: | |
| - name: Create working directory | |
| run: mkdir -p /github/home/ws/src | |
| - name: Check out repository | |
| uses: actions/checkout@v4 | |
| with: | |
| path: src/kuka_robot_descriptions | |
| - name: Install xacro, blender python module dependencies and python packages | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| apt update | |
| apt install -y ros-humble-xacro python3-pip | |
| apt install -y libxxf86vm-dev libxfixes-dev libxi-dev libxrandr-dev libxinerama-dev libegl-dev libxkbcommon-dev | |
| python3 -m pip install lxml bpy mathutils ament-index-python | |
| shell: bash | |
| - name: Build support packages | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| colcon build --packages-ignore kuka_mock_hardware_interface kuka_kr_moveit_config kuka_lbr_iisy_moveit_config kuka_lbr_iiwa_moveit_config | |
| shell: bash | |
| - name: List .urdf.xacro files and generate .urdf-s | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| source install/setup.bash | |
| mkdir -p urdf_out | |
| files=$(find src -name "*.urdf.xacro") | |
| for file in $files | |
| do | |
| filename=$(basename -- "$file") | |
| filename="${filename%.*}" | |
| xacro $file use_fake_hardware:=true > urdf_out/${filename} | |
| done | |
| shell: bash | |
| - name: Generate URDF without mesh files and ros2_control tag | |
| run: | | |
| for file in urdf_out/*.urdf; do | |
| python3 src/kuka_robot_descriptions/.github/scripts/modify_urdf.py "$file" | |
| done | |
| - name: Upload URDF output directory as artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: urdf-artifact | |
| path: urdf_out |