From 8005d5538196910be2138119adaaca5beb3e2714 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Fri, 31 Jul 2020 15:48:53 -0700
Subject: [PATCH] Fix tests on actions (#115)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 .github/ci/after_make.sh         | 10 ++++++++++
 .github/ci/packages.apt          | 13 +++++++++++++
 .github/workflows/ci-bionic.yml  | 17 -----------------
 .github/workflows/ci.yml         | 27 +++++++++++++++++++++++++++
 test/integration/depth_camera.cc |  2 +-
 5 files changed, 51 insertions(+), 18 deletions(-)
 create mode 100644 .github/ci/after_make.sh
 create mode 100644 .github/ci/packages.apt
 delete mode 100644 .github/workflows/ci-bionic.yml
 create mode 100644 .github/workflows/ci.yml

diff --git a/.github/ci/after_make.sh b/.github/ci/after_make.sh
new file mode 100644
index 000000000..89971a370
--- /dev/null
+++ b/.github/ci/after_make.sh
@@ -0,0 +1,10 @@
+#!/bin/sh -l
+
+set -x
+
+make install
+
+Xvfb :1 -screen 0 1280x1024x24 &
+export DISPLAY=:1.0
+export RENDER_ENGINE_VALUES=ogre2
+export MESA_GL_VERSION_OVERRIDE=3.3
diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
new file mode 100644
index 000000000..8464ef631
--- /dev/null
+++ b/.github/ci/packages.apt
@@ -0,0 +1,13 @@
+freeglut3-dev
+libfreeimage-dev
+libglew-dev
+libignition-cmake2-dev
+libignition-common3-dev
+libignition-math6-dev
+libignition-plugin-dev
+libogre-1.9-dev
+libogre-2.1-dev
+libxi-dev
+libxmu-dev
+uuid-dev
+xvfb
diff --git a/.github/workflows/ci-bionic.yml b/.github/workflows/ci-bionic.yml
deleted file mode 100644
index a489246d6..000000000
--- a/.github/workflows/ci-bionic.yml
+++ /dev/null
@@ -1,17 +0,0 @@
-name: Ubuntu Bionic CI
-
-on: [push, pull_request]
-
-jobs:
-  bionic-ci:
-    runs-on: ubuntu-latest
-    name: Ubuntu Bionic CI
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Bionic CI
-        id: ci
-        uses: ignition-tooling/ubuntu-bionic-ci-action@master
-        with:
-          apt-dependencies: 'libogre-1.9-dev libogre-2.1-dev libglew-dev libfreeimage-dev freeglut3-dev libxmu-dev libxi-dev uuid-dev xvfb libignition-cmake2-dev libignition-common3-dev libignition-math6-dev libignition-plugin-dev'
-          codecov-token: ${{ secrets.CODECOV_TOKEN }}
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 000000000..5d9be4dd1
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,27 @@
+name: Ubuntu CI
+
+on: [push]
+
+jobs:
+  bionic-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Bionic CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@master
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@focal
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc
index 04fc0e082..851713a0e 100644
--- a/test/integration/depth_camera.cc
+++ b/test/integration/depth_camera.cc
@@ -398,7 +398,7 @@ void DepthCameraTest::DepthCameraBoxes(
         for (unsigned int j = 0; j < depthCamera->ImageWidth(); ++j)
         {
           float x = pointCloudData[step + j*pointCloudChannelCount];
-          EXPECT_FLOAT_EQ(expectedRange, x);
+          EXPECT_NEAR(expectedRange, x, DOUBLE_TOL);
         }
       }