This project implements a Continuous Integration (CI) pipeline for testing a ROS-based action server that controls the Tortoisebot, guiding it to predefined 2D waypoints. The testing is carried out inside a Docker container, where the robot simulation runs in a headless mode using Gazebo without a graphical interface. The CI pipeline ensures that code changes automatically trigger tests that verify the robot's ability to navigate and reach target waypoints with the correct orientation.

By running the tests in a containerized environment, we can ensure consistency across different setups, making the testing process both scalable and reliable. Jenkins is used to manage the build process, triggering the tests whenever changes are made to the codebase via GitHub pull requests.

This setup helps detect issues early in development, providing confidence that the system will behave as expected when deployed to physical hardware.

The build process will automatically install all necessary dependencies. However, the commands and scripts provided in this project are intended to be run on an Ubuntu system or any other Debian-based system.

Clone this repository into your workspace and pull the required submodules.

git clone <this-repo-url>
cd ros1_ci
git submodule update --init --recursive

Use the provided installation script to set up and start Jenkins and the ROS CI pipeline. The script will handle the installation of all dependencies.

cd jenkins_ci_project
bash start_jenkins.sh

Once Jenkins has started, you can access the Jenkins dashboard at the URL provided in the jenkins__pid__url.txt file located in home directory.

Note: Stopping command for jenkins process is also provided in the file.

Login as
username: guest
password: guest

To trigger the build process, do a simple modification to this repository (like a small text file on Github) and create a Pull Request. The build process will automatically start once the PR is created and accepted.

As a guest user, you can monitor the status of the build job. Navigate to the Dashboard and select TortoisebotCITests on the list. Click on the ongoing job under Build Queue section to monitor the build process, provides view under the Console Output including logs for the Docker build, test execution, and results.