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ci: Run example_ws integration test on GPU runner #680

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9 changes: 8 additions & 1 deletion .github/workflows/ci.yaml
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Expand Up @@ -23,7 +23,14 @@ jobs:
with:
image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
colcon_test_args: "--executor sequential"
runner: "picknik-16-amd64"
# GPU runner + enable_gpu are required so MuJoCo's EGL offscreen
# rendering can attach to a real GPU instead of falling back to slow
# software rasterization on the CPU-only picknik-16-amd64 runner — the
# integration test exercises camera-bearing scenes (apriltag, perception).
# enable_gpu also switches the container image to the -cuda12.6-cudnn9
# variant, so a pull failure here points at a missing CUDA image, not EGL.
runner: "picknik-16-amd64-gpu"
enable_gpu: true
# Coarsen MuJoCo timestep on CI (default 0.002s = 500Hz) so the heavier 3.6.0
# constraint solver stays at-or-under realtime on CI runners. See
# PickNikRobotics/moveit_pro#18534 for the underlying flake history.
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