CI of DataDrivenMPC #147
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| name: CI of DataDrivenMPC | |
| on: | |
| push: | |
| branches: | |
| - '**' | |
| pull_request: | |
| branches: | |
| - '**' | |
| schedule: | |
| - cron: '0 0 * * 0' | |
| jobs: | |
| clang-format: | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Checkout repository code | |
| uses: actions/checkout@v2 | |
| - name: Install clang-format-10 | |
| run: | | |
| sudo apt-get -qq update | |
| sudo apt-get -qq install clang-format-10 | |
| - name: Run clang-format-check | |
| run: | | |
| ./.clang-format-check.sh | |
| build-and-test: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04] | |
| build-type: [Debug, RelWithDebInfo] | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - name: Set ROS version | |
| run: | | |
| if [ "${{ matrix.os }}" == "ubuntu-20.04" ] | |
| then | |
| echo "ROS_DISTRO=noetic" >> $GITHUB_ENV | |
| echo "PYTHON_PACKAGE_PREFIX=python3" >> $GITHUB_ENV | |
| else # if [ "${{ matrix.os }}" == "ubuntu-18.04" ] | |
| echo "ROS_DISTRO=melodic" >> $GITHUB_ENV | |
| echo "PYTHON_PACKAGE_PREFIX=python" >> $GITHUB_ENV | |
| fi | |
| - name: Install Python dependencies # Only for tests | |
| run: | | |
| set -e | |
| set -x | |
| sudo apt-get update -qq | |
| sudo apt install ${PYTHON_PACKAGE_PREFIX}-tk | |
| python -m pip install --upgrade pip | |
| # Due to numpy conflicts, it must be run before apt numpy is installed. | |
| pip install numpy pybullet matplotlib | |
| - name: Install ROS | |
| run: | | |
| set -e | |
| set -x | |
| sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' | |
| wget http://packages.ros.org/ros.key -O - | sudo apt-key add - | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq ros-${ROS_DISTRO}-ros-base ${PYTHON_PACKAGE_PREFIX}-catkin-tools ${PYTHON_PACKAGE_PREFIX}-rosdep doxygen graphviz | |
| - name: Setup catkin workspace | |
| run: | | |
| set -e | |
| set -x | |
| mkdir -p ${GITHUB_WORKSPACE}/catkin_ws/src/ | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| set +x | |
| . /opt/ros/${ROS_DISTRO}/setup.bash | |
| set -x | |
| catkin init | |
| catkin build --limit-status-rate 0.1 | |
| - name: Checkout repository code | |
| uses: actions/checkout@v2 | |
| with: | |
| submodules: recursive | |
| path: catkin_ws/src/DataDrivenMPC | |
| - name: Checkout NMPC | |
| uses: actions/checkout@v2 | |
| with: | |
| repository: isri-aist/NMPC | |
| submodules: recursive | |
| path: catkin_ws/src/NMPC | |
| - name: Download libtorch | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE} | |
| wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-1.11.0%2Bcpu.zip | |
| unzip libtorch-cxx11-abi-shared-with-deps-1.11.0+cpu.zip | |
| - name: Rosdep install | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| set +x | |
| . devel/setup.bash | |
| set -x | |
| sudo rosdep init | |
| rosdep update | |
| rosdep install -y -r --from-paths src --ignore-src | |
| - name: Catkin build | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| set +x | |
| . devel/setup.bash | |
| set -x | |
| catkin build --limit-status-rate 0.1 -DCMAKE_BUILD_TYPE=${{ matrix.build-type }} -DINSTALL_DOCUMENTATION=ON \ | |
| -DLIBTORCH_PATH=${GITHUB_WORKSPACE}/libtorch | |
| - name: Run tests | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| set +x | |
| . devel/setup.bash | |
| set -x | |
| catkin build --limit-status-rate 0.1 --catkin-make-args run_tests -- data_driven_mpc --no-deps | |
| catkin_test_results --verbose --all build | |
| - name: Upload documentation | |
| # Only run for one configuration and on origin master branch | |
| if: matrix.os == 'ubuntu-20.04' && matrix.build-type == 'RelWithDebInfo' && github.repository_owner == 'isri-aist' && github.ref == 'refs/heads/master' | |
| run: | | |
| set -e | |
| set -x | |
| cd ${GITHUB_WORKSPACE}/catkin_ws/src/DataDrivenMPC | |
| git config --global user.name "Masaki Murooka" | |
| git config --global user.email "[email protected]" | |
| git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/DataDrivenMPC" | |
| git fetch --depth=1 origin gh-pages:gh-pages | |
| git clean -dfx | |
| git checkout --quiet gh-pages | |
| rm -rf doxygen/ | |
| cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/data_driven_mpc/doc/html/ doxygen | |
| git add doxygen | |
| git_status=`git status -s` | |
| if test -n "$git_status"; then | |
| git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}" | |
| git push origin gh-pages | |
| else | |
| echo "Github pages documentation is already up-to-date." | |
| fi |