Add WS2 smoke test to the existing system-test harness

.github/workflows/system-tests.yml

@@ -10,8 +10,8 @@ on:
       marks:
         description: "pytest marks expression (e.g. 'build_docker', 'liveliness', 'takeoff_hover_land'). \
           Use 'or' to combine marks: 'liveliness or takeoff_hover_land'. Leave blank to run all marks. \
-          Note: 'build_packages' is automatically prepended whenever any marks are specified, \
-          to ensure code is built before launch tests run."
+          Note: 'build_packages' is automatically prepended for launch tests. \
+          The self-contained 'ws2_smoke' mark is the exception."
         default: "liveliness or takeoff_hover_land"
         required: false
       sim:
@@ -166,11 +166,17 @@ jobs:
                   marks = args[i + 1]
                   marks_idx = i + 1
 
+          # WS2 owns its Isaac launch and is not parametrized over simulators.
+          if 'ws2_smoke' in marks:
+              sim = 'isaacsim'
+
           # When the user specified any marks, prepend build_packages so code
           # is built before launch tests try to use it. Skipped when no marks
           # are given (pytest runs everything including build_packages) and
-          # when build_packages is already in the expression.
-          if marks and 'build_packages' not in marks:
+          # when build_packages is already in the expression. WS2 prepares the
+          # one package it needs below and must leave its stopped containers in
+          # place for episode.py.
+          if marks and 'build_packages' not in marks and 'ws2_smoke' not in marks:
               marks = f'build_packages or {marks}'
               args[marks_idx] = marks
 
@@ -179,6 +185,7 @@ jobs:
 
           with open(os.environ['GITHUB_OUTPUT'], 'a') as f:
               f.write(f'pytest_args={quoted}\n')
+              f.write(f'marks={marks}\n')
               f.write(f'sim={sim}\n')
               f.write(f'skip_image_prep={"true" if skip_prep else "false"}\n')
 
@@ -200,7 +207,7 @@ jobs:
             const args = ${{ toJSON(steps.parse.outputs.pytest_args) }};
             const cmd = `pytest tests/ ${args}`.trim();
             const runUrl = `${context.serverUrl}/${context.repo.owner}/${context.repo.repo}/actions/runs/${context.runId}`;
-            const note = `Note: \`build_packages\` is automatically prepended whenever any marks are specified, to ensure code is built before launch tests run.`;
+            const note = `Note: \`build_packages\` is automatically prepended for launch tests; the self-contained \`ws2_smoke\` mark is the exception.`;
             await github.rest.issues.createComment({
               owner: context.repo.owner,
               repo: context.repo.repo,
@@ -327,10 +334,34 @@ jobs:
             echo "All required images present after pull — skipping build."
           fi
 
+      - name: Prepare WS2 Kim smoke
+        if: contains(steps.parse.outputs.marks, 'ws2_smoke')
+        env:
+          AIRSTACK_ROOT: ${{ github.workspace }}
+          AUTOLAUNCH: "false"
+          COMPOSE_PROFILES: desktop,isaac-sim
+          DISPLAY: ""
+        run: |
+          workspace_root="$(dirname "$GITHUB_WORKSPACE")"
+          git clone --recursive https://github.com/engcang/Collision-avoidance.git "$workspace_root/Collision-avoidance"
+          git -C "$workspace_root/Collision-avoidance" checkout 395485b
+          git -C "$workspace_root/Collision-avoidance" submodule update --init --recursive
+          (
+            cd "$workspace_root/Collision-avoidance"
+            bash docker/build_image.sh
+            bash docker/download_models.sh
+          )
+          ./airstack.sh up isaac-sim robot-desktop
+          docker exec airstack-robot-desktop-1 bash -ic 'bws --packages-select mononav_bridge'
+          docker stop --timeout 3 isaac-sim airstack-robot-desktop-1
+          echo "WS2_SMOKE_READY=1" >> "$GITHUB_ENV"
+
       - name: Run tests
         env:
           AIRSTACK_ROOT: ${{ github.workspace }}
           DISPLAY: ""
+          WS2_HEADLESS: "1"
+          WS2_OFFICE_USD: ${{ vars.WS2_OFFICE_USD || 'omniverse://airlab-nucleus.andrew.cmu.edu/NVIDIA/Assets/Isaac/4.5/Isaac/Environments/Office/office.usd' }}
           PYTEST_ARGS: ${{ steps.parse.outputs.pytest_args }}
         run: |
           # Re-split the shell-quoted args from the parse step so we forward

tests/pytest.ini

@@ -5,6 +5,7 @@ markers =
     liveliness: Container and process health (Docker, tmux, sentinel ROS 2 nodes)
     sensors: Sim and robot sensor topic rates, LiDAR validation, sim RTF
     takeoff_hover_land: End-to-end takeoff / hover / land action tests
+    ws2_smoke: Short Office/Kim planner smoke test
 testpaths = .
 addopts = -v --durations=0
 cache_dir = /tmp/.pytest_cache

tests/requirements.txt

@@ -4,3 +4,4 @@ pytest-dependency
 tabulate
 psutil
 pandas
+PyYAML

tests/test_ws2_smoke.py

@@ -0,0 +1,76 @@
+"""WS2 adapter for the existing AirStack system-test harness."""
+
+import json
+import os
+import shutil
+import subprocess
+import uuid
+from pathlib import Path
+
+import pytest
+
+import conftest
+
+
+ROOT = Path(__file__).resolve().parents[1]
+RUNTIME = ROOT / "robot/ros_ws/ws2_runtime"
+SCENARIO = ROOT / "tools/ws2_bench/scenarios/validate_timeout.yaml"
+
+
+@pytest.mark.ws2_smoke
+@pytest.mark.timeout(1800)
+@pytest.mark.skipif(
+    os.environ.get("WS2_SMOKE_READY") != "1",
+    reason="run through system-tests.yml with -m ws2_smoke",
+)
+def test_ws2_office_kim_smoke():
+    output = RUNTIME / f"ci-smoke-{uuid.uuid4().hex[:12]}"
+    stdout = ""
+    returncode = -1
+    try:
+        completed = subprocess.run(
+            [
+                "python3",
+                str(ROOT / "tools/ws2_bench/episode.py"),
+                str(SCENARIO),
+                "--output",
+                str(output),
+            ],
+            cwd=ROOT,
+            text=True,
+            stdout=subprocess.PIPE,
+            stderr=subprocess.STDOUT,
+            timeout=1700,
+            check=False,
+        )
+        stdout = completed.stdout
+        returncode = completed.returncode
+    except subprocess.TimeoutExpired as exc:
+        stdout = exc.stdout or "WS2 episode timed out"
+        if isinstance(stdout, bytes):
+            stdout = stdout.decode(errors="replace")
+    finally:
+        subprocess.run(
+            [
+                "docker", "stop", "--timeout", "3", "ws2-episode-worker",
+                "collision-avoidance-airstack", "isaac-sim",
+                "airstack-robot-desktop-1",
+            ],
+            stdout=subprocess.DEVNULL,
+            stderr=subprocess.DEVNULL,
+            check=False,
+        )
+        artifact = conftest.RUN_DIR / "ws2-smoke"
+        artifact.mkdir(parents=True, exist_ok=True)
+        (artifact / "episode-stdout.log").write_text(stdout, encoding="utf-8")
+        if output.is_dir():
+            shutil.copytree(output, artifact / "episode", dirs_exist_ok=True)
+
+    assert returncode == 0, stdout[-4000:]
+    result_path = output / "result.json"
+    assert result_path.is_file(), "WS2 did not produce result.json"
+    result = json.loads(result_path.read_text(encoding="utf-8"))
+    assert result.get("outcome") != "infrastructure_error", result
+    assert result.get("termination", {}).get("reason") == "simulation_time_budget", result
+    assert result.get("planner_command_count", 0) >= 1, result
+    assert not result.get("cleanup_errors"), result