C++ CI Workflow #1472
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| name: C++ CI Workflow | |
| on: | |
| push: | |
| pull_request: | |
| schedule: | |
| # * is a special character in YAML so you have to quote this string | |
| # Execute a "nightly" build at 2 AM UTC | |
| - cron: '0 2 * * *' | |
| jobs: | |
| build-with-conda-dependencies: | |
| name: '[conda:${{ matrix.os }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-20.04, macos-latest, windows-2019] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: conda-incubator/setup-miniconda@v3 | |
| with: | |
| miniforge-version: latest | |
| channels: conda-forge | |
| - name: Dependencies [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 | |
| conda config --remove channels defaults | |
| # Build and test dependencies (ROS packages to test that resouces are find correctly by ROS/ROS2) | |
| # ros-noetic-catkin is required otherwised ROS_PACKAGE_PATH is not defined and rospack list does not return anything | |
| conda install -c conda-forge -c robostack -c robostack-humble cmake compilers make ninja pkg-config python ros-noetic-rospack ros-noetic-catkin ros-humble-ros2pkg | |
| - name: Print used environment [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| conda list | |
| env | |
| - name: Configure [Conda/Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DICUB_MODELS_USES_PYTHON:BOOL=ON -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} .. | |
| - name: Configure [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DICUB_MODELS_USES_PYTHON:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| - name: Build [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Install [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} | |
| - name: Test ROS Package can be found [Conda/Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| # Test ROS | |
| rospack find iCub | |
| # Test ROS2 | |
| ros2 pkg prefix iCub | |
| - name: Test ROS Package can be found [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C CALL {0} | |
| run: | | |
| rospack find iCub | |
| ros2 pkg prefix iCub | |
| build-with-apt-dependencies: | |
| name: '[apt:${{ matrix.docker_image }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: | |
| - ubuntu-latest | |
| docker_image: | |
| - "ubuntu:20.04" | |
| - "ubuntu:22.04" | |
| - "debian:sid" | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| # Print environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| shell: bash | |
| run: env | |
| - name: Dependencies [apt] | |
| run: | | |
| # See https://stackoverflow.com/questions/44331836/apt-get-install-tzdata-noninteractive, | |
| # only required by Ubuntu 20.04 | |
| export DEBIAN_FRONTEND=noninteractive | |
| apt-get -y update | |
| apt-get -y install \ | |
| git build-essential cmake | |
| - name: Configure [apt] | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - name: Build | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |