updated with SOT-devel #39
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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 |