Draft: Revise OMPL planner and profile to support different types of state spaces #1454
Workflow file for this run
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| name: Ubuntu | |
| on: | |
| push: | |
| branches: | |
| - master | |
| - 'dev**' | |
| pull_request: | |
| paths: | |
| - 'tesseract**' | |
| - '.github/workflows/ubuntu.yml' | |
| - '**.repos' | |
| schedule: | |
| - cron: '0 5 * * *' | |
| release: | |
| types: | |
| - released | |
| jobs: | |
| get-tag: | |
| # Pre-job to fetch the latest tag | |
| runs-on: ubuntu-latest | |
| outputs: | |
| major: ${{ steps.extract_tag.outputs.major }} | |
| minor: ${{ steps.extract_tag.outputs.minor }} | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 # Ensure all history and tags are fetched | |
| - name: Get latest tag | |
| id: extract_tag | |
| run: | | |
| latest_tag=$(git describe --tags `git rev-list --tags --max-count=1`) | |
| echo "Latest tag: $latest_tag" | |
| # Extract major and minor version from the tag | |
| IFS='.' read -r major minor patch <<< "$latest_tag" | |
| echo "Major: $major" | |
| echo "Minor: $minor" | |
| # Set as output variables | |
| echo "::set-output name=major::$major" | |
| echo "::set-output name=minor::$minor" | |
| ci: | |
| name: ${{ matrix.distro }} | |
| needs: get-tag # Make sure the 'ci' job waits for the 'get-tag' job to finish | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| distro: [focal, jammy, noble] | |
| container: | |
| image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}-${{ needs.get-tag.outputs.major }}.${{ needs.get-tag.outputs.minor }} | |
| env: | |
| CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache" | |
| DEBIAN_FRONTEND: noninteractive | |
| TZ: Etc/UTC | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| with: | |
| path: target_ws/src | |
| - name: Install Depends | |
| shell: bash | |
| run: | | |
| apt update | |
| apt upgrade -y | |
| apt install -y wget libompl-dev | |
| - name: Install Depends (non-noble) | |
| if: ${{ matrix.distro != 'noble' }} | |
| shell: bash | |
| run: | | |
| apt install -y software-properties-common | |
| add-apt-repository ppa:levi-armstrong/tesseract-robotics | |
| apt install -y taskflow | |
| - name: Install Depends (noble) | |
| if: ${{ matrix.distro == 'noble' }} | |
| shell: bash | |
| run: | | |
| apt install -y libtaskflow-cpp-dev | |
| - name: Build and Tests | |
| uses: tesseract-robotics/colcon-action@v8 | |
| with: | |
| before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash | |
| ccache-prefix: ${{ matrix.distro }} | |
| vcs-file: dependencies.repos | |
| upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| target-path: target_ws/src | |
| target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON |