iCubGazeboV2_5_visuomanip: add support for gz-sim #1523
Workflow file for this run
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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 }} | |