Revert "Add synchronous message callbacks and remove hardcoded K matrices" #79
Workflow file for this run
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| name: 'Humble: Build and Test' | |
| on: | |
| push: | |
| branches: | |
| - "main" | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| test_happypose_ros: | |
| runs-on: ubuntu-22.04 | |
| env: | |
| HAPPYPOSE_DATA_DIR: /tmp/local_data | |
| steps: | |
| - name: Install EGL mesa - required for Panda3D renderer | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -qqy libegl1-mesa libegl1-mesa-dev | |
| - name: Install Python C headers and remove Blinker version conflicting with HappyPose | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -qqy python3-dev | |
| sudo apt purge -qqy python3-blinker | |
| - name: Caching of the HappyPose installation and data | |
| uses: actions/cache@v4 | |
| with: | |
| path: /tmp/local_data | |
| key: data | |
| - name: Update pip | |
| run: pip install -U pip | |
| - name: Download HappyPose source | |
| working-directory: /tmp | |
| run: | | |
| git clone --branch dev --recurse-submodules https://github.com/agimus-project/happypose.git | |
| - name: Build and install HappyPose | |
| working-directory: /tmp/happypose | |
| run: pip install ".[cpu,pypi,evaluation,multiview]" --extra-index-url https://download.pytorch.org/whl/cpu | |
| - name: Download pre-trained models required for tests | |
| run: | | |
| mkdir -p /tmp/local_data | |
| python -m happypose.toolbox.utils.download \ | |
| --bop_dataset ycbv \ | |
| --cosypose_models \ | |
| detector-bop-ycbv-pbr--970850 \ | |
| coarse-bop-ycbv-pbr--724183 \ | |
| refiner-bop-ycbv-pbr--604090 | |
| - name: Unzip HappyPose YCBV models | |
| working-directory: /tmp/local_data/bop_datasets/ycbv | |
| run: | | |
| unzip -n -qq ycbv_base.zip | |
| unzip -n -qq ycbv_models.zip | |
| - name: Remove incompatible PyTest version | |
| run: pip uninstall -y pytest | |
| - name: Install ROS 2 Humble | |
| uses: ros-tooling/[email protected] | |
| with: | |
| required-ros-distributions: humble | |
| - name: Build and test happypose_ros | |
| uses: ros-tooling/[email protected] | |
| with: | |
| package-name: happypose_ros | |
| target-ros2-distro: humble |