Merge pull request #739 from Tobias-Fischer/conda-ci

Cross-platform CI with conda packages

.github/ci_env.yml

@@ -0,0 +1,33 @@
+name: test
+channels:
+  - robostack
+  - conda-forge
+dependencies:
+  # build deps
+  - compilers
+  - ninja
+  - cmake
+  - catkin_pkg
+  # Other deps
+  - cppzmq
+  - eigen
+  - msgpack-python
+  - orocos-kdl
+  - python
+  - tinyxml2
+  - zeromq
+  - ros-distro-mutex 0.1 noetic
+  - ros-noetic-catkin
+  - ros-noetic-cmake-modules
+  - ros-noetic-eigen-conversions
+  - ros-noetic-geometry-msgs
+  - ros-noetic-kdl-parser
+  - ros-noetic-moveit-core
+  - ros-noetic-moveit-msgs
+  - ros-noetic-moveit-ros-planning
+  - ros-noetic-pluginlib
+  - ros-noetic-roscpp
+  - ros-noetic-rosunit
+  - ros-noetic-std-msgs
+  - ros-noetic-tf
+  - ros-noetic-tf-conversions

.github/workflows/conda_ci_action.yml

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+name: Build Exotica on all platforms
+
+on: push
+
+jobs:
+  run_rviz_compilation:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        os: [macos-latest, ubuntu-latest, windows-latest]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Dependencies
+      uses: mamba-org/provision-with-micromamba@main
+      with:
+        environment-file: .github/ci_env.yml
+    - name: Install System Dependencies
+      if: runner.os == 'Linux'
+      run: |
+        sudo apt-get install libglew-dev mesa-utils xvfb libgl1-mesa-glx libgl1-mesa-dev libglu1-mesa libglu1-mesa-dev \
+                             libselinux1 libxdamage1 libxfixes3 libxxf86vm1
+    - name: Build Exotica on Unix
+      if: runner.os == 'Linux' || runner.os == 'macOS'
+      working-directory: ./exotica_core
+      shell: bash -l -eo pipefail {0}
+      run: |
+        if [[ `uname -s` == "Linux" ]]; then
+          CDT="-cos6-x86_64"
+          micromamba install -y mesa-libgl-devel$CDT mesa-dri-drivers$CDT \
+                                libselinux$CDT libxdamage$CDT libxxf86vm$CDT \
+                                libxext$CDT libxfixes$CDT -c conda-forge
+        fi
+        export CTEST_OUTPUT_ON_FAILURE=1
+        mkdir build
+        cd build
+        cmake .. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
+                 -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+                 -DCMAKE_BUILD_TYPE=Release \
+                 -DCATKIN_SKIP_TESTING=OFF \
+                 -G "Ninja"
+        ninja
+        ninja run_tests
+    - name: Build Exotica on Windows
+      if: runner.os == 'Windows'
+      working-directory: ./exotica_core
+      shell: powershell
+      run: |
+        micromamba shell hook -s cmd.exe -p C:\Users\runneradmin\micromamba
+        Get-Content -Path C:\Users\runneradmin\micromamba\condabin\mamba_hook.bat
+    - name: Build Exotica on Windows
+      if: runner.os == 'Windows'
+      working-directory: ./exotica_core
+      shell: cmd
+      run: |
+        echo "Remove unnecessary / colliding things from PATH"
+        set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%"
+        set "PATH=%PATH:C:\Rust\.cargo\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\cmd;=%"
+        set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%"
+        set "PATH=%PATH:C:\Program Files\CMake\bin;=%"
+        set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\c\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%"
+        set "PATH=%PATH:c:\tools\php;=%"
+        :: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
+        set "PATH=%PATH:ostedtoolcache=%"
+        echo "Activate environment, and compile"
+        call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test
+        SET "PYTHONPATH=%CONDA_PREFIX%\Library\lib\site-packages"
+        mkdir build
+        cd build
+        SET "CTEST_OUTPUT_ON_FAILURE=1"
+        cmake .. -DCMAKE_PREFIX_PATH="%CONDA_PREFIX%\Library" ^
+                 -DCMAKE_INSTALL_PREFIX="%CONDA_PREFIX%\Library" ^
+                 -DCMAKE_BUILD_TYPE=Release ^
+                 -DCATKIN_SKIP_TESTING=OFF ^
+                 -DBoost_USE_STATIC_LIBS=OFF ^
+                 -G "Ninja"
+        ninja
+        ninja run_tests