Pull request #209: Feat/PRCUN-5837 integration launch on jenkins humble

Merge in MOCTRL/franka_ros2 from feat/PRCUN-5837-integration-launch-on-jenkins-humble to humble

* commit 'd0dbb5df30e3266ec510125092d8a064182194a5':
  fix: disable humble hardware tests due to BFFTRAC-2632
  fix: define workspace as home for ros logs
  fix: restored cleanWs
  fix: removed groovy api, added pure bash script from libfranka
  feat: reworked franka_ros2 jenkins pipeline (incremental build) feat: added FERobotAPI in jenkins pipelines for reuse feat: removed integration tests packages, moved tests where they belong

Author: francando

CHANGELOG.rst

@@ -22,6 +22,7 @@ Requires libfranka >= 0.20.4 and franka_description >= 2.4.0 requires ROS 2 Jazz
 * fix: added arm_prefix functionality to all franka_example_controllers and franka_robot_state_broadcaster
 * feat: add sensor support for gazebo. Remove multi robot example for gazebo.
 * feat: support tmr simulation with sensors
+* chore: removed integration_launch_testing package, moved integration tests in their subpackage
 
 v2.2.0 (2026-01-14)
 ----------

Dockerfile

@@ -20,6 +20,7 @@ RUN apt-get update && \
         gdb \
         git \
         nano \
+        iputils-ping \
         openssh-client \
         python3-colcon-argcomplete \
         python3-colcon-common-extensions \

Jenkinsfile

@@ -1,48 +1,14 @@
 #!groovy
+pipeline {
 
-/**
- * Clone a repository from either a private URL (if provided) or from dependency.repos config.
- *
- * @param repoName       Target directory name for the clone
- * @param privateUrl     Private repo URL (empty string to use public)
- * @param privateBranch  Branch to use for private repo
- * @param publicUrl      Public URL from dependency.repos
- * @param publicVersion  Version/branch from dependency.repos
- * @param credentialId   Jenkins SSH credential ID
- * @param recursive      Whether to clone recursively (default: false)
- * @param fetchTags      Whether to fetch tags after clone (default: false)
- */
-def cloneRepo(Map args) {
-  def repoName = args.repoName
-  def privateUrl = args.privateUrl ?: ''
-  def privateBranch = args.privateBranch ?: 'main'
-  def publicUrl = args.publicUrl
-  def publicVersion = args.publicVersion ?: 'main'
-  def credentialId = args.credentialId
-  def recursive = args.recursive ?: false
-  def fetchTags = args.fetchTags ?: false
-
-  def recursiveFlag = recursive ? '--recursive' : ''
-  def fetchTagsCmd = fetchTags ? "&& cd ${repoName} && git fetch --tags" : ''
-
-  if (privateUrl) {
-    echo "Cloning ${repoName} from internal: ${privateUrl} (branch: ${privateBranch})"
-    sshagent(credentials: [credentialId]) {
-      sh """
-        git clone ${recursiveFlag} --branch ${privateBranch} --single-branch ${privateUrl} ${repoName} ${fetchTagsCmd}
-      """
-    }
-  } else {
-    echo "Cloning ${repoName} from dependency.repos: ${publicUrl} (version: ${publicVersion})"
-    sh """
-      git clone ${recursiveFlag} --branch ${publicVersion} --single-branch ${publicUrl} ${repoName} ${fetchTagsCmd}
-    """
+  libraries {
+    lib('fe-pipeline-steps')
   }
-}
 
-pipeline {
   agent {
-    label 'docker'
+    node {
+      label 'fepc-lx010'
+    }
   }
 
   triggers {
@@ -52,121 +18,161 @@ pipeline {
   parameters {
     string(name: 'libfrankaRepoUrl',
            defaultValue: 'ssh://[email protected]:7999/moctrl/libfranka.git',
-           description: 'SSH URL to clone libfranka from internal repo. Leave empty to use the github remote.')
+           description: 'SSH URL to clone libfranka')
 
     string(name: 'libfrankaBranch',
            defaultValue: 'main',
            description: 'Branch or tag to checkout for libfranka.')
 
     string(name: 'frankaDescriptionRepoUrl',
            defaultValue: 'ssh://[email protected]:7999/moctrl/franka_description.git',
-           description: 'SSH URL to clone franka_description from internal repo. Leave empty to use the github remote.')
+           description: 'SSH URL to clone franka_description.')
 
     string(name: 'frankaDescriptionBranch',
            defaultValue: 'humble',
            description: 'Branch or tag to checkout for franka_description. Defaults to the same ROS_DISTRO branch of franka_ros2.')
 
-    string(name: 'sshCredentialId',
-           defaultValue: 'git_ssh',
-           description: 'Jenkins credential ID for SSH key to access internal Bitbucket repos.')
+    booleanParam(name: 'executeHardwareTestsOnRobot',
+           defaultValue: true,
+           description: "Run the franka_ros2 tests on the real hardware")
+
+    string(name: "robotIp",
+            defaultValue: "172.16.0.1",
+            description: "The static IP of the robot to run tests onto")
+  }
+
+  environment {
+    HOME="${WORKSPACE}" // for cleaning up ros logs
   }
 
+
   stages {
     stage('Get Ready') {
+      options { skipDefaultCheckout true }
       steps {
-        cleanWs()
-        checkout scm
+        script{
+          cleanWs()
+        }
+        checkout([
+            $class: 'GitSCM',
+            branches: scm.branches,
+            userRemoteConfigs: scm.userRemoteConfigs,
+            extensions: [
+                [$class: 'RelativeTargetDirectory', relativeTargetDir: 'src'] // needed to put everything under src as expected by colcon/rosdep
+            ]
+        ])
         script {
           notifyBitbucket()
-          currentBuild.displayName = "[libfranka: ${params.libfrankaRepoUrl ? params.libfrankaBranch : 'private'}, franka_description: ${params.frankaDescriptionRepoUrl ? params.frankaDescriptionBranch : 'private'}]"
+          currentBuild.displayName = "[libfranka: ${params.libfrankaBranch}, franka_description: ${params.frankaDescriptionBranch}]"
         }
-        sh 'rm -rf build log install libfranka franka_description'
       }
     }
 
     stage('Fetch Dependencies') {
+      options { skipDefaultCheckout true }
       steps {
-        script {
-          sh 'rm -rf libfranka franka_description'
-
-          // Read defaults from dependencies.repos so we can follow the versions defined there
-          def repos = readYaml file: 'dependency.repos'
-          def repoMap = repos?.repositories ?: [:]
-
-          // Helper to get repo config with defaults
-          def getRepoConfig = { name, defaultUrl ->
-            def cfg = repoMap[name] ?: [:]
-            return [
-              url: cfg.url ?: defaultUrl,
-              version: cfg.version ?: 'main'
-            ]
-          }
+        sh 'echo "=== Workspace structure ===" && ls -la'
+        dir('src') {
+          script {
 
-          def libfrankaCfg = getRepoConfig('libfranka', 'https://github.com/frankarobotics/libfranka.git')
-          def frankaDescCfg = getRepoConfig('franka_description', 'https://github.com/frankarobotics/franka_description.git')
-
-          // Clone libfranka
-          cloneRepo(
-            repoName: 'libfranka',
-            privateUrl: params.libfrankaRepoUrl,
-            privateBranch: params.libfrankaBranch,
-            publicUrl: libfrankaCfg.url,
-            publicVersion: libfrankaCfg.version,
-            credentialId: params.sshCredentialId,
-            recursive: true,
-            fetchTags: true
-          )
-
-          // Clone franka_description - default to the same branch as franka_ros2 if not specified, which is common for ROS packages
-          cloneRepo(
-            repoName: 'franka_description',
-            privateUrl: params.frankaDescriptionRepoUrl,
-            privateBranch: params.frankaDescriptionBranch,
-            publicUrl: frankaDescCfg.url,
-            publicVersion: frankaDescCfg.version,
-            credentialId: params.sshCredentialId
-          )
-
-          // Stash cloned external dependencies so later stages (running in another agent/container)
-          // can restore them even if the workspace is wiped or a different node is used.
-          // useDefaultExcludes: false is required to include .git directories for version detection
-          stash name: 'external_deps', includes: 'libfranka/**,franka_description/**', useDefaultExcludes: false
-
-          sh 'echo "=== Workspace structure ===" && ls -la'
+            def repos = readYaml file: 'dependency.repos'
+            def repoMap = repos?.repositories ?: [:]
+
+            // Clone/update all 3rd party dependencies 
+            repoMap.each {repoName, cfg ->
+              def url = cfg.url 
+              def version = cfg.version ?: 'main'
+              if (repoName != 'libfranka' && repoName != 'franka_description'){
+                sh """
+                  if [ -d ${repoName} ]; then
+                    cd ${repoName}
+                    git checkout ${version}
+                    git pull
+                    cd ..
+                  else
+                    git clone --depth 1 --branch ${version} ${url} ${repoName}
+                  fi
+                """
+              }
+            }
+
+            sshagent(['git_ssh']){
+            sh """
+
+              if [ -d "libfranka" ]; then
+                cd libfranka 
+                git fetch --all --tags
+                git checkout ${params.libfrankaBranch}
+                git pull
+                cd ..
+              else
+                git clone --branch ${params.libfrankaBranch} ${params.libfrankaRepoUrl}
+                cd libfranka 
+                git config submodule.common.url ssh://[email protected]:7999/moctrl/libfranka-common.git
+                git submodule update --init --recursive --depth 1 
+                cd ..
+              fi
+
+              if [ -d "franka_description" ]; then
+                cd franka_description
+                git fetch --all --tags
+                git checkout ${params.frankaDescriptionBranch}
+                git pull
+                cd ..
+              else
+                git clone --depth 1 --branch ${params.frankaDescriptionBranch} ${params.frankaDescriptionRepoUrl}
+              fi
+              """
+            }
+          }
+          sh 'echo "=== src structure ===" && ls -la'
         }
       }
     }
 
     stage('Build') {
+      options { skipDefaultCheckout true }
       agent {
         dockerfile {
+          dir 'src'
           reuseNode true
         }
       }
+      environment {
+        ROBOT_IP = "${params.robotIp}"
+      }
       steps {
-        // Clean any existing files before unstashing to avoid permission conflicts
-        sh 'rm -rf libfranka franka_description'
-        // Restore external deps cloned in the Fetch Dependencies stage
-        unstash 'external_deps'
         sh '''
           . /opt/ros/$ROS_DISTRO/setup.sh
           echo "=== Workspace structure ===" && ls -la
-          colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCHECK_TIDY=ON -DBUILD_TESTS=OFF
+          colcon build \
+            --base-paths src \
+            --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON  \
+                         -DCHECK_TIDY=ON \
+                         -DBUILD_TESTS=OFF \
+                         -DBUILD_TESTING=ON  \
+                         -DROBOT_IP=$ROBOT_IP
         '''
       }
     }
 
+    // Run the unit tests (no hardware tests)
     stage('Test') {
+      options { skipDefaultCheckout true }
       agent {
         dockerfile {
+          dir 'src'
           reuseNode true
         }
       }
       steps {
         sh '''
-          . /opt/ros/$ROS_DISTRO/setup.sh
           . install/setup.sh
-          colcon test --packages-ignore hardware_interface realtime_tools libfranka controller_manager integration_launch_testing --event-handlers console_direct+
+          colcon test \
+            --base-paths src \
+            --packages-select-regex '^franka_(?!bringup$|gripper$)' \
+            --event-handlers console_direct+ \
+            --ctest-args --exclude-regex test_hardware
           colcon test-result --verbose
         '''
       }
@@ -176,11 +182,41 @@ pipeline {
         }
       }
     }
+    stage("Hardware Test"){
+      // re-enable this when https://franka.atlassian.net/browse/BFFTRAC-2632 is fixed
+      // when { expression { params.executeHardwareTestsOnRobot } }
+      when { expression { false } }
+      options { skipDefaultCheckout true }
+      agent { 
+        dockerfile {
+          dir 'src'
+          reuseNode true
+          args '--network host ' +
+               '--cap-add=sys_nice ' +
+               '--ulimit rtprio=99 ' +
+               '--ulimit rttime=-1 ' +
+               '--ulimit memlock=8428281856 ' +
+               '--security-opt=seccomp=unconfined'
+        }
+      }
+
+      steps {
+        script {
+          echo "Checking connectivity to Master Controller..."
+          sh "ping -c 5 ${params.robotIp}"
+          sh """
+            . install/setup.sh
+            chmod +x ./src/franka_ros2/scripts/*.sh
+            ./src/franka_ros2/scripts/run_hardware_tests.sh ${params.robotIp}
+          """
+        }
+      }
+    }
   }
   post {
       always {
-          cleanWs()
           script {
+              cleanWs()
               notifyBitbucket()
           }
       }

franka_bringup/CMakeLists.txt

@@ -18,7 +18,27 @@ install(
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  find_package(launch_testing_ament_cmake REQUIRED)
+  find_package(ament_cmake_ros REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  if(NOT ROBOT_IP)
+    set(ROBOT_IP "172.16.0.1")
+    message(STATUS "ROBOT_IP not defined, defaulting to ${ROBOT_IP}...")
+  endif()
+
+  function(add_ros_isolated_launch_test path)
+    set(RUNNER "${ament_cmake_ros_DIR}/run_test_isolated.py")
+    add_launch_test("${path}" RUNNER "${RUNNER}" ARGS "robot_ip:=${ROBOT_IP}" TIMEOUT 500)
+  endfunction()
+
+  add_ros_isolated_launch_test(test/test_hardware_example_controllers.py)
+  add_ros_isolated_launch_test(test/test_hardware_generic_controller.py)
+
+  install(
+    DIRECTORY test
+    DESTINATION share/${PROJECT_NAME}
+  )
 endif()
 
 ament_package()

franka_bringup/README.md

@@ -0,0 +1,21 @@
+# franka_bringup 
+
+Launch file package for booting up franka robots.
+
+## Testing
+
+**Note:** To activate the launch file smoke tests, you need to enable the `BUILD_TESTING` CMake flag when building this package:
+
+```bash
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON
+```
+
+### Run the tests on your hardware
+
+```bash
+# If you want to use an IP other than 172.16.0.1
+colcon build --packages-select franka_bringup --cmake-args -DROBOT_IP=<robot-ip> -DBUILD_TESTING=ON
+colcon test --packages-select franka_bringup --event-handlers console_direct+
+# to inspect the results
+colcon test-result --all --verbose
+```