MPPIコントローラをlocal plannerに実装する #679
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| name: build test | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| paths: | |
| - .github/workflows/build_test.yaml | |
| - "**/**.cpp" | |
| - "**/**.h" | |
| - "**/**.hpp" | |
| - "**/CMakeLists.txt" | |
| - "**/package.xml" | |
| - .pre-commit-config.yaml | |
| merge_group: | |
| jobs: | |
| job: | |
| name: BuildAndRun | |
| runs-on: ubuntu-22.04 | |
| timeout-minutes: 180 | |
| container: ros:${{ matrix.rosdistro }} | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| rosdistro: [humble, jazzy] | |
| steps: | |
| - name: suppress warnings | |
| run: | | |
| git config --global --add safe.directory '*' | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Copy repository | |
| run: | | |
| mkdir -p ~/ibis_ws/src/crane | |
| cp -rf . ~/ibis_ws/src/crane | |
| shell: bash | |
| - name: Install orocos libraries | |
| run: | | |
| apt-get update | |
| apt-get install -y wget | |
| wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl0.8_0.8.0-6_amd64.deb | |
| wget https://launchpad.net/ubuntu/+archive/primary/+files/liborocos-bfl-dev_0.8.0-6_amd64.deb | |
| apt-get install -y ./liborocos-bfl0.8_0.8.0-6_amd64.deb | |
| apt-get install -y ./liborocos-bfl-dev_0.8.0-6_amd64.deb | |
| - name: Install dependencies | |
| run: | | |
| cd ~/ibis_ws | |
| vcs import src < src/crane/dependency_${{ matrix.rosdistro }}.repos | |
| - name: Resolve rosdep | |
| run: | | |
| cd ~/ibis_ws | |
| apt-get update | |
| apt install -y python3-pip | |
| rosdep update --include-eol-distros | |
| rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }} --dependency-types=build --dependency-types=buildtool --dependency-types=test | |
| shell: bash | |
| - name: Setup Problem Matchers for GCC | |
| run: echo "::add-matcher::${{ github.workspace }}/.github/matchers/gcc.json" | |
| - name: Build packages | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.bash | |
| cd ~/ibis_ws | |
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-array-bounds | |
| shell: bash | |
| - name: Colcon test | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.bash | |
| cd ~/ibis_ws | |
| colcon test | |
| shell: bash | |
| - name: Setup Problem Matchers for clang-format | |
| run: echo "::add-matcher::${{ github.workspace }}/.github/matchers/clang-format.json" | |
| - name: Show test result | |
| if: always() | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.bash | |
| cd ~/ibis_ws | |
| colcon test-result --verbose | |
| shell: bash |