Add CI.

.github/workflows/ci.yaml

@@ -0,0 +1,101 @@
+name: CI of HumanRetargetingController
+
+on:
+  push:
+    branches:
+      - '**'
+  pull_request:
+    branches:
+      - '**'
+  schedule:
+    - cron: '0 0 * * 0'
+
+jobs:
+  build-and-test:
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-20.04]
+        catkin-build: [catkin, standalone]
+        build-type: [RelWithDebInfo, Debug]
+        mc-rtc-version: [head, stable]
+        motion-type: [SampleMotion]
+        exclude:
+          - build-type: Debug
+            mc-rtc-version: stable
+          # Some packages have not been released onto the stable mirror yet
+          - catkin-build: standalone
+            mc-rtc-version: stable
+    runs-on: ${{ matrix.os }}
+    env:
+      RESULTS_POSTFIX: ${{ matrix.motion-type }}-${{ matrix.catkin-build }}
+    steps:
+      - name: Setup environment variables
+        run: |
+          set -e
+          set -x
+          if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \
+             [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \
+             [ "${{ matrix.mc-rtc-version }}" == "head" ]
+          then
+            echo "RUN_SIMULATION_STEPS=true" >> $GITHUB_ENV
+          else
+            echo "RUN_SIMULATION_STEPS=false" >> $GITHUB_ENV
+          fi
+          if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \
+             [ "${{ matrix.catkin-build }}" == "catkin" ] && \
+             [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \
+             [ "${{ matrix.mc-rtc-version }}" == "head" ] && \
+             [ "${{ matrix.motion-type }}" == "MotionSampleField" ] && \
+             [ "${{ github.repository_owner }}" == "isri-aist" ] && \
+             [ "${{ github.ref }}" == "refs/heads/master" ]
+          then
+            echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV
+          else
+            echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV
+          fi
+          if [ "${{ matrix.catkin-build }}" == "catkin" ]
+          then
+            echo "CI_DIR=${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}/.github/workflows" >> $GITHUB_ENV
+          else
+            echo "CI_DIR=${GITHUB_WORKSPACE}/.github/workflows" >> $GITHUB_ENV
+          fi
+      - name: Install dependencies
+        uses: jrl-umi3218/github-actions/install-dependencies@master
+        with:
+          ubuntu: |
+            apt-mirrors:
+              mc-rtc:
+                cloudsmith: mc-rtc/${{ matrix.mc-rtc-version }}
+            apt: libmc-rtc-dev mc-rtc-utils mc-state-observation doxygen graphviz jvrc-choreonoid choreonoid libcnoid-dev
+          ros: |
+            apt: ros-base mc-rtc-plugin eigen-conversions
+      - name: Install standalone dependencies
+        if: matrix.catkin-build == 'standalone'
+        uses: jrl-umi3218/github-actions/install-dependencies@master
+        with:
+          build-type: ${{ matrix.build-type }}
+          ubuntu: |
+            apt: libforcecontrolcollection-dev libtrajectorycollection-dev libcentroidalcontrolcollection-dev
+          github: |
+            - path: isri-aist/BaselineWalkingController
+            - path: isri-aist/CnoidRosUtils
+      - name: Checkout repository code
+        if: matrix.catkin-build == 'standalone'
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      - name: Standalone build
+        if: matrix.catkin-build == 'standalone'
+        uses: jrl-umi3218/github-actions/build-cmake-project@master
+        with:
+          build-type: ${{ matrix.build-type }}
+      - name: Catkin build
+        if: matrix.catkin-build == 'catkin'
+        uses: jrl-umi3218/github-actions/build-catkin-project@master
+        with:
+          build-type: ${{ matrix.build-type }}
+          cmake-args: -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }} -DENABLE_QLD=ON
+          catkin-test-args: --no-deps
+          build-packages: human_retargeting_controller
+          test-packages: human_retargeting_controller

.github/workflows/clang-format.yaml

@@ -0,0 +1,24 @@
+name: Check clang-format
+
+on:
+  push:
+    branches:
+      - '**'
+  pull_request:
+    branches:
+      - '**'
+
+jobs:
+  clang-format:
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout repository code
+        uses: actions/checkout@v3
+      - name: Install clang-format-10
+        run: |
+          sudo apt-get -y -qq update
+          sudo apt-get -y -qq install clang-format-10
+      - name: Run clang-format-check
+        run: |
+          ./.clang-format-check.sh
+

LICENSE

@@ -1,6 +1,6 @@
 BSD 2-Clause License
 
-Copyright (c) 2024, AIST-CNRS JRL
+Copyright (c) 2024, CNRS-AIST JRL
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:

README.md

@@ -1,2 +1,6 @@
 # [HumanRetargetingController](https://github.com/isri-aist/HumanRetargetingController)
 Controller for retargeting the motion from human to humanoid robot
+
+[![CI](https://github.com/isri-aist/HumanRetargetingController/actions/workflows/ci.yaml/badge.svg)](https://github.com/isri-aist/HumanRetargetingController/actions/workflows/ci.yaml)
+[![Documentation](https://img.shields.io/badge/doxygen-online-brightgreen?logo=read-the-docs&style=flat)](https://isri-aist.github.io/HumanRetargetingController/)
+[![LICENSE](https://img.shields.io/github/license/isri-aist/HumanRetargetingController)](https://github.com/isri-aist/HumanRetargetingController/blob/master/LICENSE)