Split build and tests to reduce number of URSim startups by urfeex · Pull Request #1910 · UniversalRobots/Universal_Robots_ROS2_Driver

urfeex · 2026-07-24T12:13:01Z

Our current approach towards running integration tests doesn't scale well. We're spending a lot of time setting up and tearing down simulators.

This PR aims at

geting more immediate feedback
using less test resources in total
being able to run tests on more target platforms

Note

Medium Risk
Reworks the entire industrial_ci pipeline (workspace cache, committed Docker image, test labels). Failures would mainly affect CI reliability and integration coverage, not production robot control.

Overview
Splits binary/semi-binary CI into a build job and parallel integration jobs so URSim is started once per PolyScope family instead of once per test.

The build job still uses industrial_ci, runs everything except tests labelled ursim, then caches the workspace and commits the CI image. Three follow-on jobs restore that image and run ctest -L ursim against UR30 latest, UR15 PolyScope X 10.12.0 (excluding dashboard_g5), and CB3 UR10 3.15.8. Workflows also get PR concurrency cancellation.

Integration tests no longer launch URSim themselves. They wait on wait_robot_booted.py, take UR_CI_ROBOT_IP / UR_CI_UR_TYPE from the environment, reset simulator state between cases, and skip features that are unavailable on CB3 or PolyScope X. Dashboard tests detect the PolyScope family at runtime instead of parametrizing URSim versions. The old in-repo DockURSim image is removed in favor of start_ursim.sh plus stored program folders.

^{Reviewed by Cursor Bugbot for commit 97927a2. Bugbot is set up for automated code reviews on this repo. Configure here.}

codecov · 2026-07-24T12:28:18Z

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 27.62%. Comparing base (1b121b7) to head (848e02a).
⚠️ Report is 634 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##            main    #1910       +/-   ##
==========================================
+ Coverage   3.59%   27.62%   +24.03%     
==========================================
  Files         13       41       +28     
  Lines        947     5622     +4675     
  Branches     152      660      +508     
==========================================
+ Hits          34     1553     +1519     
- Misses       843     3997     +3154     
- Partials      70       72        +2

Flag	Coverage Δ
unittests	`27.62% <ø> (+24.03%)`	⬆️

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This way we can start the robots with confirmed safety

This is a robot wait script that works for all PolyScope versions.

…n PolyScope X

…_control mode

Using __name__ doesn't work

When that test is run multiple times because of parametrization, consecutive runs will fail, as the program already exists. Therefore, skip if the target program is already on the target robot.

Copilot

🔵 Needs a closer look

Human review is needed to assess test-selection and simulator-matrix coverage gaps that could let CI pass without validating key behavior.

1 open issue

The waiter’s nonzero timeout exit still triggers this handler, so this launch-argument test…

3 resolved since last review

Set current-based efforts in the independent CB3/UR10 launch path
wait_robot_booted.py returns a nonzero status on timeout, but OnProcessExit runs robot_driver…
This model-test path also launches the driver whenever the readiness process exits, including its…

_{Review effort: Balanced}

cursor

Cursor Bugbot has reviewed your changes using default effort and found 1 potential issue.

There are 3 total unresolved issues (including 2 from previous reviews).

^{Reviewed by Cursor Bugbot for commit 37f6c13. Configure here.}

Copilot

🟡 Changes recommended

Neither client-library dependency source installs the referenced wait_robot_booted.py executable, blocking driver startup and causing integration CI to exit before running tests.

1 open issue

Restore the installed boot waiter for both dependency variants · New

1 resolved since last review

The waiter’s nonzero timeout exit still triggers this handler, so this launch-argument test…

_{Review effort: Balanced}

Copilot

🔵 Needs a closer look

The test helper points to a wait_robot_booted.py executable that the pinned client-library dependency does not install, preventing driver startup in shared-URSim and robot-model tests.

1 open issue

Restore the installed boot waiter for both dependency variants

_{Review effort: Balanced}

Copilot

🔵 Needs a closer look

The test helper now relies on a waiter executable that official ur_client_library installations do not provide, causing driver startup and robot-model tests to fail in dependency configurations not covered by the Rolling override.

1 open issue

Restore the installed boot waiter for both dependency variants

_{Review effort: Balanced}

It has been there before this PR, so we can always remove it later.

Copilot

🟡 Changes recommended

The unconditional install entry still references the deleted scripts/wait_robot_booted.py, causing ur_robot_driver installation to fail even when integration tests are disabled.

1 open issue

Removed boot-wait script still required by package install · New

1 resolved since last review

Restore the installed boot waiter for both dependency variants

_{Review effort: Balanced}

 install(PROGRAMS
  scripts/tool_communication.py
  scripts/wait_for_robot_description
+  scripts/wait_robot_booted.py


urrsk · 2026-11-04T13:26:14Z

Is this file needed?

urrsk · 2026-11-04T13:29:51Z

Consider gunzip the urp programs, installation and variables

urrsk · 2026-11-04T13:30:07Z

Is this files needed?

urrsk · 2026-11-04T13:41:37Z

    IoStatusInterface,
 )

+URSIM_CONTAINER = "ursim"


Please address

urrsk · 2026-11-04T13:56:38Z

    type: git
-    url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git
-    version: master
+    url: https://github.com/urfeex/Universal_Robots_Client_Library.git


Do we still need this workaround, now that UniversalRobots/Universal_Robots_Client_Library#615 is merged?

Split build and tests to reduce numbers of URSim startups

d67f9d4

urfeex added 10 commits July 27, 2026 06:29

Fix skipping ursim tests in ici build stage

ae7746d

Re-use the ICI container for running the integration tests

0aa216e

Fix newline

b7714d3

Use console_direct+

c0c7682

Make it one line

a3120df

Do not set -u

099a683

Start ursim in the background

b35b710

Restore src path

3a7387b

Add program folders for ursim

1bc4fb1

This way we can start the robots with confirmed safety

Add wait_robot_booted.py script

801f6f1

This is a robot wait script that works for all PolyScope versions.

urfeex force-pushed the refactor_ci branch from b3812a0 to 801f6f1 Compare July 27, 2026 18:14

urfeex added 14 commits July 27, 2026 18:36

Use wait_robot_booted also in launch_args test

7a82560

Make dismissing popups optional. This functionality isn't supported o…

73bf66c

…n PolyScope X

Fix program mount folder

c363607

Skip tests on PolyScope X that require a G5 dashboard client / remote…

43b7d4c

…_control mode

Fix naming output

59a2e0e

Using __name__ doesn't work

Debug

25cf249

Test uploading a program only once

1a31198

When that test is run multiple times because of parametrization, consecutive runs will fail, as the program already exists. Therefore, skip if the target program is already on the target robot.

Fix mount path

8c2ebb9

Provide correct robot model to launch_args test

2828fb3

Remove debug

76e854b

Rename matrix jobs to showup on GH

133d396

Run full test suite on 5 again

ed24dab

Proofread ci_status changes

69ea5b3

Run tests with one thread

18d4d15

urfeex force-pushed the refactor_ci branch from 637e4fd to 18d4d15 Compare July 29, 2026 09:27

urfeex added 2 commits July 29, 2026 11:04

Add debug

d828b82

Add test programs

d6144db

Copilot started reviewing on behalf of urfeex November 3, 2026 12:31

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urfeex added 3 commits November 3, 2026 20:11

Use wait_robot_booted from URCL

02cb180

Fail test if wait_robot_booted fails

18475aa

REVERT_ME: Use changed start_ursim script

37f6c13

Copilot AI balanced review requested due to automatic review settings November 3, 2026 20:11

Copilot started reviewing on behalf of urfeex November 3, 2026 20:12

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cursor Bot reviewed Nov 3, 2026

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Comment thread .github/workflows/reusable_ici_integration_test.yml Resolved

Copilot AI reviewed Nov 3, 2026

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Comment thread ur_robot_driver/test/test_common.py Resolved

Don't do port forwarding when starting ursim in integration tests

a092ab8

Copilot AI balanced review requested due to automatic review settings November 4, 2026 06:08

Copilot started reviewing on behalf of urfeex November 4, 2026 06:09

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REVERT_ME: Use other branch of URCL

848e02a

Copilot AI reviewed Nov 4, 2026

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Copilot AI balanced review requested due to automatic review settings November 4, 2026 06:15

Copilot started reviewing on behalf of urfeex November 4, 2026 06:16

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Copilot AI reviewed Nov 4, 2026

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urfeex added the blocked label Nov 4, 2026

Use wait_robot_booted.py from this package

da314bd

It has been there before this PR, so we can always remove it later.

Copilot AI balanced review requested due to automatic review settings November 4, 2026 13:17

Copilot started reviewing on behalf of urfeex November 4, 2026 13:18

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Comment thread ur_robot_driver/CMakeLists.txt

install(PROGRAMS

scripts/tool_communication.py

scripts/wait_for_robot_description

scripts/wait_robot_booted.py

urrsk reviewed Nov 4, 2026

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Comment thread .github/dockerursim/ursim_storage/3.15.8/ur10/programs/default.variables

urrsk Nov 4, 2026

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Is this file needed?

urrsk reviewed Nov 4, 2026

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Comment thread .github/dockerursim/ursim_storage/latest/ur30/programs/default.variables

urrsk Nov 4, 2026

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Is this files needed?

urrsk requested changes Nov 4, 2026

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