some test classes/objects #38
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| name: CI - Linux via APT | |
| on: [push,pull_request] | |
| jobs: | |
| build: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| os: [ubuntu-22.04,ubuntu-20.04] | |
| env: | |
| CCACHE_DIR: /github/home/.ccache | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| submodules: recursive | |
| - name: Setup ccache | |
| uses: actions/cache@v3 | |
| with: | |
| key: ${{ matrix.os }} | |
| path: ${{ env.CCACHE_DIR }} | |
| max-size: 5G | |
| # extract branch name | |
| - name: Get branch name (merge) | |
| if: github.event_name != 'pull_request' | |
| shell: bash | |
| run: echo "BRANCH_NAME=$(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: | | |
| sudo sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list " | |
| sudo apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key | |
| - name: Set and install dependencies | |
| run: | | |
| sudo rm -rf /usr/local/share/boost/1.69.0 | |
| export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))") | |
| export APT_DEPENDENCIES="doxygen libboost-system-dev libboost-test-dev libboost-filesystem-dev libboost-program-options-dev libeigen3-dev liburdfdom-dev texlive-font-utils" | |
| export APT_DEPENDENCIES=$APT_DEPENDENCIES" libboost-python-dev robotpkg-py"$PYTHON3_VERSION"-eigenpy python3-numpy" | |
| export APT_DEPENDENCIES=$APT_DEPENDENCIES" robotpkg-py"$PYTHON3_VERSION"-hpp-fcl" | |
| echo $APT_DEPENDENCIES | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq curl cppcheck ${APT_DEPENDENCIES} | |
| sudo apt install libomp-dev libomp5 | |
| - name: Free disk space | |
| run: | | |
| sudo apt clean | |
| df -h | |
| - name: Install casadi | |
| run: | | |
| mkdir third-party && cd third-party | |
| git clone https://github.com/casadi/casadi.git -b 3.5.0 --depth 1 | |
| cd casadi | |
| mkdir build && cd build | |
| export PATH="/usr/lib/ccache:/usr/local/opt/ccache/libexec:$PATH" | |
| cmake .. -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=OFF | |
| sudo make install | |
| cd ../.. | |
| rm -rf casadi | |
| cd .. | |
| - name: Run cmake | |
| run: | | |
| 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=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu | |
| export MAKEFLAGS="-j1" | |
| export PATH="/usr/lib/ccache:/usr/local/opt/ccache/libexec:$PATH" | |
| mkdir build | |
| cd build | |
| cmake .. -DCMAKE_BUILD_TYPE=Debug -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=ON -DBUILD_WITH_CASADI_SUPPORT=ON -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON | |
| make | |
| make build_tests | |
| export CTEST_OUTPUT_ON_FAILURE=1 | |
| make test | |
| sudo make install | |
| - name: Test packaging | |
| run: | | |
| export PATH=$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 | |
| cmake -DPYTHON_EXECUTABLE=$(which python3) .. | |
| make | |
| ./run_rnea | |
| ./load_urdf | |
| cd ../../pkgconfig | |
| mkdir build | |
| cd build | |
| cmake -DPYTHON_EXECUTABLE=$(which python3) .. | |
| make | |
| ./run_rnea | |
| 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 $PINOCCHIO_GIT_TAG | |
| mkdir build | |
| cd build | |
| cmake -DPYTHON_EXECUTABLE=$(which python3) .. | |
| make | |
| ./run_rnea | |
| ./load_urdf | |
| cd ../../pinocchio_header | |
| mkdir build | |
| cd build | |
| cmake -DPYTHON_EXECUTABLE=$(which python3) .. | |
| make | |
| ./run_fk | |
| - name: Uninstall project | |
| run: | | |
| cd build | |
| sudo make uninstall |