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Testing Your Code with the ROS Build Farm

The ROS 2 Build Farm is incredibly powerful. In addition to creating binaries, it will also test pull requests by compiling and running all the tests for your ROS packages before the PR is merged.

There are four prerequisites.

• The GitHub user @ros-pull-request-builder must have access to the repository.

• The GitHub repository must have the webhooks set up.

• Your package must be indexed in rosdistro

• The test_pull_requests flag must be true.

GitHub Access

You can give access to the PR Builder either at the GitHub organization level OR just to the single GitHub repository.

GitHub Organization

1. Open https://github.com/orgs/%YOUR_ORG%/people (while replacing %YOUR_ORG% with the appropriate organization)

2. Click Invite Member and enter ros-pull-request-builder

GitHub Repository

1. Open https://github.com/%YOUR_ORG%/%YOUR_REPO%/settings/access (while replacing %YOUR_ORG%/%YOUR_REPO$ with the appropriate organization/repo)

2. Click Add people and enter ros-pull-request-builder

3. Select Admin or Write for their role. (see next section)

WebHooks

If you grant full administrative rights to ros-pull-request-builder, it will automatically setup the hooks.

Alternatively, you can avoid the need for full administrative rights by setting them up with only write permissions.

1. Open https://github.com/%YOUR_ORG%/%YOUR_REPO%/settings/hooks/new)

2. Enter "https://build.ros2.org/ghprbhook/ as the Payload URL

3. Check the following options:

   • Let me select individual events.

   • Issue comments

   • Pull requests

test_pull_requests

For each ROS distro that you want pull request testing for, you must enable the test_pull_requests flag in the appropriate section of the rosdistro.

• Option 1 - You have the option when running bloom to turn on pull request testing.

• Option 2 - You can carefully manually edit the appropriate file in the rosdistro repo, and make a new pull request. Example. Documented in REP 143.

Note that after the pull request has been added, the job will usually not be created until the nightly Jenkins reconfiguration.