MoveIt Pro CI Setup

note

CI features and integration are only available to MoveIt Pro Ultimate customers.

Reusable Workflows

We provide a reusable workflow for integration testing your robot configs, running each Objective in a MoveIt Pro container in your CI pipeline. This workflow is designed to ensure that your robot configurations are compatible with MoveIt Pro and that all Objectives are functioning as expected. To utilize this workflow in GitHub actions, you can look at the following example from the example_ws:

jobs:
  integration-test-in-studio-container:
  uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@v0.0.2
  with:
    image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
    colcon_test_args: "--executor sequential"
  secrets: inherit

To see the full reusable workflow, you can visit the MoveIt Pro CI GitHub repository.

Custom Actions

We provide a custom action for linting your objectives in a robot config. This action can be used to ensure that your objectives are properly formatted and adhere to best practices. To use this action, you can add the following job to your GitHub actions workflow:

jobs:
  validate_objectives:
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
      - uses: PickNikRobotics/moveit_pro_lint@v0.0.1

To see the full custom action, you can visit the MoveIt Pro Lint GitHub repository.