Updated imu base estimation. #4970
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: C++ CI Workflow with conda-forge dependencies | |
| on: | |
| push: | |
| branches: | |
| - master | |
| 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 * * *' | |
| # Workaround for https://github.com/conda-forge/mumps-feedstock/issues/125 | |
| # and https://github.com/conda-forge/mumps-feedstock/pull/126#issuecomment-2355357834 | |
| env: | |
| OMP_NUM_THREADS: 1 | |
| jobs: | |
| build: | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-latest, windows-2019, macos-latest] | |
| fail-fast: false | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Miniforge3 | |
| miniforge-version: latest | |
| channels: conda-forge,robostack-staging | |
| channel-priority: true | |
| - name: Dependencies | |
| shell: bash -l {0} | |
| run: | | |
| # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 | |
| conda config --remove channels defaults | |
| # Dependencies | |
| conda install cmake compilers make ninja pkg-config \ | |
| "idyntree>=12.2.1" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \ | |
| liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog \ | |
| nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl \ | |
| tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4" \ | |
| ros-humble-rclcpp onnxruntime-cpp libbayes-filters-lib cmake-package-check catch2 | |
| - name: Linux-only Dependencies [Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| conda install manifpy mesa-libgl-devel-cos7-x86_64 | |
| - name: Windows-only Dependencies [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| conda install vs2019_win-64 | |
| - name: Windows-workarounds [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C CALL {0} | |
| run: | | |
| :: Due to this https://github.com/conda-forge/icub-models-feedstock/issues/18 | |
| :: pcl is removed as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/695#issuecomment-1632208836 | |
| :: pcl can be re-added once we have a ros humble build compatible with PCL 1.13.0 | |
| :: pybind11 constrained as workaround for https://github.com/conda-forge/pybind11-feedstock/issues/95 | |
| conda install "pybind11<2.12.0" | |
| conda remove icub-models pcl | |
| - name: Print used environment | |
| shell: bash -l {0} | |
| run: | | |
| conda list | |
| env | |
| - name: Configure [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ | |
| -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| - name: Build [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Test [Linux&macOS] | |
| if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} | |
| - name: Configure [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C call {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. | |
| - name: Build [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C call {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| - name: Test [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: cmd /C call {0} | |
| run: | | |
| cd build | |
| ctest --output-on-failure -C ${{ matrix.build_type }} | |
| - name: Install and test installed package | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --install . --config ${{ matrix.build_type }} | |
| cmake-package-check BipedalLocomotionFramework --targets BipedalLocomotion::Framework |