Merge branch 'passivity_based_rnea_dev' of github.com:Cfather/pinocch… #3
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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) }} |