test/mjcf: fix test of equality constraints #17
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name: CI - Linux via APT | |
on: | |
push: | |
paths-ignore: | |
- doc/** | |
- .gitlab-ci.yml | |
- .gitignore | |
- '*.md' | |
- CITATION.* | |
- COPYING.LESSER | |
- colcon.pkg | |
- .pre-commit-config.yaml | |
pull_request: | |
paths-ignore: | |
- doc/** | |
- .gitlab-ci.yml | |
- .gitignore | |
- '*.md' | |
- CITATION.* | |
- COPYING.LESSER | |
- colcon.pkg | |
- .pre-commit-config.yaml | |
concurrency: | |
group: ${{ github.workflow }}-${{ github.ref }} | |
cancel-in-progress: true | |
jobs: | |
build: | |
runs-on: ubuntu-latest | |
container: ${{ matrix.container }} | |
strategy: | |
matrix: | |
container: ['ubuntu:20.04', 'ubuntu:22.04', 'ubuntu:24.04'] | |
env: | |
CCACHE_BASEDIR: ${GITHUB_WORKSPACE} | |
CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache | |
CCACHE_COMPRESS: true | |
CCACHE_COMPRESSLEVEL: 5 | |
steps: | |
- name: Setup Container | |
run: | | |
apt update && DEBIAN_FRONTEND="noninteractive" apt install -y sudo lsb-release gnupg2 cmake git python3 | |
- uses: actions/checkout@v4 | |
with: | |
fetch-depth: 0 | |
submodules: recursive | |
- name: Setup ccache | |
uses: actions/cache@v4 | |
with: | |
path: .ccache | |
save-always: true | |
key: ccache-linux-${{ matrix.container }}-${{ github.sha }} | |
restore-keys: ccache-linux-${{ matrix.container }}- | |
# extract branch name | |
- name: Get branch name (merge) | |
if: github.event_name != 'pull_request' | |
shell: bash | |
run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV | |
# extract branch name on pull request | |
- name: Get branch name (pull request) | |
if: github.event_name == 'pull_request' | |
shell: bash | |
run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV | |
# print branch name | |
- name: Debug | |
run: echo ${{ env.BRANCH_NAME }} | |
- name: Register robotpkg | |
run: | | |
sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list " | |
apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key | |
- name: Set and install dependencies | |
run: | | |
rm -rf /usr/local/share/boost/1.69.0 | |
export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))") | |
export APT_DEPENDENCIES="doxygen \ | |
ccache \ | |
curl \ | |
cppcheck \ | |
libomp-dev \ | |
libomp5 \ | |
libboost-system-dev \ | |
libboost-test-dev \ | |
libboost-filesystem-dev \ | |
libboost-program-options-dev \ | |
libeigen3-dev \ | |
liburdfdom-dev \ | |
texlive-font-utils \ | |
libboost-python-dev \ | |
python3-numpy \ | |
python3-matplotlib \ | |
robotpkg-py${PYTHON3_VERSION}-eigenpy \ | |
robotpkg-py${PYTHON3_VERSION}-hpp-fcl \ | |
robotpkg-py${PYTHON3_VERSION}-casadi" | |
echo $APT_DEPENDENCIES | |
apt-get update -qq | |
DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES} | |
- name: Free disk space | |
run: | | |
apt clean | |
df -h | |
- name: Run cmake | |
run: | | |
# Add cloned repo to safe.directory, since it was not cloned by the container | |
git config --global --add safe.directory "$GITHUB_WORKSPACE" | |
git submodule update --init | |
export PATH=$PATH:/opt/openrobots/bin | |
export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))") | |
export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages | |
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu | |
mkdir build | |
cd build | |
cmake .. \ | |
-DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
-DCMAKE_BUILD_TYPE=Debug \ | |
-DBUILD_WITH_COLLISION_SUPPORT=ON \ | |
-DBUILD_ADVANCED_TESTING=OFF \ | |
-DBUILD_WITH_CASADI_SUPPORT=ON \ | |
-DPYTHON_EXECUTABLE=$(which python3) \ | |
-DBUILD_WITH_OPENMP_SUPPORT=ON \ | |
-DINSTALL_DOCUMENTATION=ON \ | |
-DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake | |
make -j2 | |
make -j2 build_tests | |
export CTEST_OUTPUT_ON_FAILURE=1 | |
make test | |
sudo make install | |
- name: Test packaging | |
run: | | |
export PATH=$PATH:/opt/openrobots/bin | |
export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig | |
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu | |
cd ./unittest/packaging/cmake | |
mkdir build | |
cd build | |
export CMAKE_PREFIX_PATH=/usr/local | |
# Test CMake module packaging | |
cmake .. \ | |
-DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
-DPYTHON_EXECUTABLE=$(which python3) | |
make -j2 | |
./run_rnea | |
./load_urdf | |
# Test pkg-config packaging | |
cd ../../pkgconfig | |
mkdir build | |
cd build | |
cmake .. \ | |
-DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
-DPYTHON_EXECUTABLE=$(which python3) | |
make -j2 | |
./run_rnea | |
./load_urdf | |
# Test FetchContent packaging | |
cd ../../external | |
export PINOCCHIO_GIT_REPOSITORY="file://"$GITHUB_WORKSPACE | |
#export PINOCCHIO_GIT_REPOSITORY=$(git remote get-url origin) | |
export PINOCCHIO_GIT_TAG="test-external-"$(git rev-parse --short HEAD) | |
git tag $PINOCCHIO_GIT_TAG | |
mkdir build | |
cd build | |
cmake .. \ | |
-DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
-DPYTHON_EXECUTABLE=$(which python3) | |
make -j2 | |
./run_rnea | |
./load_urdf | |
# Test CMake module packaging and pinocchio_header target | |
cd ../../pinocchio_header | |
mkdir build | |
cd build | |
cmake .. \ | |
-DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | |
-DPYTHON_EXECUTABLE=$(which python3) | |
make -j2 | |
./run_fk | |
- name: Uninstall project | |
run: | | |
cd build | |
sudo make uninstall | |
check: | |
if: always() | |
name: check-linux-apt | |
needs: | |
- build | |
runs-on: Ubuntu-latest | |
steps: | |
- name: Decide whether the needed jobs succeeded or failed | |
uses: re-actors/alls-green@release/v1 | |
with: | |
jobs: ${{ toJSON(needs) }} |