Updated imu base estimation. #6834
Workflow file for this run
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| name: C++ CI Workflow | |
| 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 * * *' | |
| env: | |
| vcpkg_robotology_TAG: v0.11.0 | |
| YCM_TAG: v0.15.3 | |
| YARP_TAG: v3.8.0 | |
| iDynTree_TAG: v12.3.3 | |
| CasADi_TAG: 3.5.5.2 | |
| manif_TAG: 0.0.5 | |
| matioCpp_TAG: v0.2.5 | |
| LieGroupControllers_TAG: v0.2.0 | |
| osqp_TAG: v0.6.3 | |
| OsqpEigen_TAG: v0.7.0 | |
| tomlplusplus_TAG: v3.0.1 | |
| icub_models_TAG: v2.4.0 | |
| UnicyclePlanner_TAG: v0.7.0 | |
| telemetry_TAG: v1.2.0 | |
| bayes_filters_TAG: 53124b1d85fc00c8cd44d572a1e482d7e58c0f50 | |
| # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg | |
| VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg | |
| # Default number of cores set to one | |
| NUM_CORES_FOR_CMAKE_BUILD: 1 | |
| jobs: | |
| check-style: | |
| name: Find Trailing Whitespace | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Find Trailing Whitespace | |
| run: | | |
| set +e | |
| lines=$(git grep --cached -In '[[:blank:]]$') | |
| if [ ! -z "$lines" ]; then | |
| echo -e "\n The following lines contain trailing whitespace: \n" | |
| echo -e "${lines}" | |
| echo -e "\nFailed.\n" | |
| exit 1 | |
| fi | |
| exit 0 | |
| build: | |
| needs: check-style | |
| name: '[${{ matrix.os }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| build_type: [Release, Debug] | |
| os: [ubuntu-20.04, windows-2019] | |
| fail-fast: false | |
| steps: | |
| - uses: actions/checkout@v4 | |
| # Print environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| shell: bash | |
| run: env | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| # Remove apt repos that are known to break from time to time | |
| # See https://github.com/actions/virtual-environments/issues/323 | |
| - name: Remove broken apt repos [Ubuntu] | |
| if: startsWith(matrix.os, 'ubuntu') | |
| run: | | |
| for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
| - name: Dependencies [Windows] | |
| if: matrix.os == 'windows-2019' | |
| run: | | |
| # To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need | |
| choco install -y wget unzip | |
| # To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg | |
| # that has been used to create the pre-compiled archive | |
| cd C:/ | |
| wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${env:vcpkg_robotology_TAG}/vcpkg-robotology.zip | |
| unzip vcpkg-robotology.zip -d C:/ | |
| rm vcpkg-robotology.zip | |
| - name: Dependencies [Ubuntu] | |
| if: startsWith(matrix.os, 'ubuntu') | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install git build-essential cmake libace-dev coinor-libipopt-dev \ | |
| libboost-system-dev libboost-filesystem-dev libboost-thread-dev \ | |
| liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev \ | |
| qtmultimedia5-dev libxml2-dev liburdfdom-dev libtinyxml-dev \ | |
| liburdfdom-dev liboctave-dev python3-dev valgrind coinor-libipopt-dev \ | |
| libmatio-dev python3-pytest python3-numpy python3-scipy \ | |
| python3-setuptools libspdlog-dev libopencv-dev libpcl-dev \ | |
| python3-pybind11 nlohmann-json3-dev libassimp-dev libqhull-dev | |
| # install realsense from apt (see https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) | |
| sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCD | |
| sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u | |
| # please see https://github.com/IntelRealSense/realsense-ros/blob/a161efb84c9cf8077fbd37d6a78ef1fad0b677d0/.travis.yml#L17-L19 | |
| sudo apt-get update -qq | |
| # please see https://github.com/IntelRealSense/librealsense/issues/9607#issuecomment-896789179 | |
| mkdir -p /usr/share/librealsense2/presets | |
| sudo apt-get install librealsense2-dev | |
| # Get the number of cores | |
| - name: Get number of cores to speed up cmake build and test to skip [Windows] | |
| if: matrix.os == 'windows-2019' | |
| run: | | |
| echo "NUM_CORES_FOR_CMAKE_BUILD=$((Get-CimInstance Win32_ComputerSystem).NumberOfLogicalProcessors)" >> $env:GITHUB_ENV | |
| echo "BLF_TEST_TO_SKIP=YarpRobotLoggerDeviceUnitTests" >> $env:GITHUB_ENV | |
| - name: Get number of cores to speed up cmake build and test to suppress [Ubuntu] | |
| if: startsWith(matrix.os, 'ubuntu') | |
| run: | | |
| echo "NUM_CORES_FOR_CMAKE_BUILD=`nproc --all`" >> $GITHUB_ENV | |
| echo "BLF_TEST_TO_SKIP=" >> $env:GITHUB_ENV | |
| - name: Cache Source-based Dependencies | |
| id: cache-source-deps | |
| uses: actions/cache@v3 | |
| with: | |
| path: ${{ github.workspace }}/install/deps | |
| key: source-deps-${{ runner.os }}-os-${{ matrix.os }}-build-type-${{ matrix.build_type }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-iDynTree-${{ env.iDynTree_TAG }}-casADi-${{ env.CasADi_TAG }}-manif-${{ env.manif_TAG }}-matioCpp-${{ env.matioCpp_TAG }}-LieGroupControllers-${{ env.LieGroupControllers_TAG }}-osqp-${{ env.osqp_TAG }}-osqp-eigen-${{ env.OsqpEigen_TAG }}-tomlplusplus-${{ env.tomlplusplus_TAG }}-unicycle-${{ env.UnicyclePlanner_TAG }}-icub-models-${{ env.icub_models_TAG }}-robometry-${{ env.telemetry_TAG }}-bayes-filters-${{ env.bayes_filters_TAG }} | |
| - name: Source-based Dependencies [Windows] | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'windows-2019' | |
| shell: bash | |
| run: | | |
| # YCM | |
| cd ${GITHUB_WORKSPACE} | |
| git clone -b ${YCM_TAG} https://github.com/robotology/ycm | |
| cd ycm | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # YARP | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| cd yarp | |
| git checkout ${YARP_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_GUIS:BOOL=OFF -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target INSTALL -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # Workaround for https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports/issues/3 | |
| export IPOPT_DIR=${VCPKG_INSTALLATION_ROOT}/installed/x64-windows | |
| # iDynTree | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/iDynTree | |
| cd iDynTree | |
| git checkout ${iDynTree_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # osqp | |
| cd ${GITHUB_WORKSPACE} | |
| git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp | |
| cd osqp | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # osqp-eigen | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/osqp-eigen | |
| cd osqp-eigen | |
| git checkout ${OsqpEigen_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # CasADi | |
| # We override the casadi installation structure to be compliant with the folder structure used for | |
| # the other dependencies. Please check: | |
| # https://github.com/casadi/casadi/blob/6f122ca22e2a869903628c5738f154c8ac0f7455/CMakeLists.txt#L317 | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/ami-iit/casadi.git -b ${CasADi_TAG} casadi | |
| cd casadi | |
| mkdir build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \ | |
| -DINCLUDE_PREFIX:PATH="include" \ | |
| -DCMAKE_PREFIX:PATH="lib/cmake/casadi" \ | |
| -DLIB_PREFIX:PATH="lib" \ | |
| -DBIN_PREFIX:PATH="bin" \ | |
| -DWITH_IPOPT=BOOL:ON \ | |
| -DWITH_OSQP:BOOL=ON -DUSE_SYSTEM_WISE_OSQP=BOOL:ON .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # manif | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/artivis/manif.git | |
| cd manif | |
| git checkout ${manif_TAG} | |
| mkdir build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # matioCpp | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/ami-iit/matio-cpp | |
| cd matio-cpp | |
| git checkout ${matioCpp_TAG} | |
| mkdir build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # LieGroupControllers | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/ami-iit/lie-group-controllers | |
| cd lie-group-controllers | |
| git checkout ${LieGroupControllers_TAG} | |
| mkdir build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # UnicycleFootstepPlanner | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/unicycle-footstep-planner | |
| cd unicycle-footstep-planner | |
| git checkout ${UnicyclePlanner_TAG} | |
| mkdir build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # icub-models | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-models | |
| cd icub-models | |
| git checkout ${icub_models_TAG} | |
| mkdir build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \ | |
| -DICUB_MODELS_USES_PYTHON:BOOL=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # robometry | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/robometry | |
| cd robometry | |
| git checkout ${telemetry_TAG} | |
| mkdir build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # bayes-filters | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/bayes-filters-lib | |
| cd bayes-filters-lib | |
| git checkout ${bayes_filters_TAG} | |
| mkdir build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| - name: Source-based Dependencies [Ubuntu] | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' && startsWith(matrix.os, 'ubuntu') | |
| shell: bash | |
| run: | | |
| # Tomlplusplus | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/marzer/tomlplusplus | |
| cd tomlplusplus | |
| git checkout ${tomlplusplus_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # YCM | |
| cd ${GITHUB_WORKSPACE} | |
| git clone -b ${YCM_TAG} https://github.com/robotology/ycm | |
| cd ycm | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # YARP | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/yarp | |
| cd yarp | |
| git checkout ${YARP_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # iDynTree | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/iDynTree | |
| cd iDynTree | |
| git checkout ${iDynTree_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DIDYNTREE_USES_PYTHON:BOOL=ON \ | |
| -DIDYNTREE_USES_ASSIMP:BOOL=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # osqp | |
| cd ${GITHUB_WORKSPACE} | |
| git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp | |
| cd osqp | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # osqp-eigen | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/osqp-eigen | |
| cd osqp-eigen | |
| git checkout ${OsqpEigen_TAG} | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # CasADi | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/ami-iit/casadi.git -b ${CasADi_TAG} casadi | |
| cd casadi | |
| mkdir build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DWITH_IPOPT=BOOL:ON \ | |
| -DWITH_OSQP:BOOL=ON -DUSE_SYSTEM_WISE_OSQP=BOOL:ON .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # manif | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/artivis/manif.git | |
| cd manif | |
| git checkout ${manif_TAG} | |
| mkdir build | |
| cd build | |
| cmake -DBUILD_PYTHON_BINDINGS:BOOL=ON -DMANIFPY_PKGDIR:PATH=${GITHUB_WORKSPACE}/install/deps/lib/python3/dist-packages -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # matioCpp | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/ami-iit/matio-cpp | |
| cd matio-cpp | |
| git checkout ${matioCpp_TAG} | |
| mkdir build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # LieGroupControllers | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/ami-iit/lie-group-controllers | |
| cd lie-group-controllers | |
| git checkout ${LieGroupControllers_TAG} | |
| mkdir build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # UnicycleFootstepPlanner | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/unicycle-footstep-planner | |
| cd unicycle-footstep-planner | |
| git checkout ${UnicyclePlanner_TAG} | |
| mkdir build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # icub-models | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/icub-models | |
| cd icub-models | |
| git checkout ${icub_models_TAG} | |
| mkdir build | |
| cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DICUB_MODELS_USES_PYTHON:BOOL=ON .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # robometry | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/robometry | |
| cd robometry | |
| git checkout ${telemetry_TAG} | |
| mkdir build && cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # bayes-filters | |
| cd ${GITHUB_WORKSPACE} | |
| git clone https://github.com/robotology/bayes-filters-lib | |
| cd bayes-filters-lib | |
| git checkout ${bayes_filters_TAG} | |
| mkdir build && cd build | |
| cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| - name: Source-based Dependencies [Ubuntu] | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' && startsWith(matrix.os, 'ubuntu') | |
| shell: bash | |
| run: | | |
| # CppAD | |
| git clone https://github.com/coin-or/CppAD.git | |
| cd CppAD | |
| mkdir -p build | |
| cd build | |
| cmake -Dcppad_prefix=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \ | |
| -DBUILD_TESTING=OFF .. | |
| cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| - name: Check Python setup | |
| shell: bash | |
| run: | | |
| echo "Default interpreter: $(which python)" | |
| python3 -c 'import sys; print(sys.prefix)' | |
| - name: Extend the pythonpath and LD_LIBRARY_PATH [Ubuntu] | |
| if: startsWith(matrix.os, 'ubuntu') | |
| run: | | |
| echo "PYTHONPATH=${GITHUB_WORKSPACE}/install/deps/lib/python3/dist-packages" >> $GITHUB_ENV | |
| echo "LD_LIBRARY_PATH=${LD_LIBRARY_PATH:+${LD_LIBRARY_PATH}:}${GITHUB_WORKSPACE}/install/deps/lib" >> $GITHUB_ENV | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure [Windows] | |
| # Use bash also on Windows (otherwise cd, mkdir, ... do not work) | |
| if: matrix.os == 'windows-2019' | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
| -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
| -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF \ | |
| -DBUILD_TESTING:BOOL=ON .. | |
| - name: Configure [Ubuntu] | |
| if: startsWith(matrix.os, 'ubuntu') | |
| shell: bash | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
| -DBUILD_TESTING:BOOL=ON \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \ | |
| -DPython3_ROOT_DIR=$(python -c "import sys; print(sys.prefix)") -DFRAMEWORK_USE_Python3:BOOL=ON -DFRAMEWORK_USE_pybind11:BOOL=ON \ | |
| -DENABLE_YarpRobotLoggerDevice:BOOL=ON \ | |
| -DFRAMEWORK_RUN_Valgrind_tests:BOOL=ON .. | |
| - name: Check build if some dependencies are not enabled [Ubuntu] | |
| if: github.event_name != 'push' && github.event_name != 'release' && matrix.os == 'ubuntu-20.04' | |
| shell: bash | |
| run: | | |
| cd build | |
| for missing_dep in YARP Qhull casadi cppad manif Python3 pybind11 pytest matioCpp LieGroupControllers nlohmann_json UnicyclePlanner icub-models BayesFilters; do | |
| echo "Testing ${missing_dep} as missing dependency." | |
| # Deselect missing dependencies and build | |
| cmake -DFRAMEWORK_USE_${missing_dep}:BOOL=OFF . | |
| cmake --build . --config ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| # Enable again dependency | |
| cmake -DFRAMEWORK_USE_${missing_dep}:BOOL=ON . | |
| done | |
| - name: Build | |
| shell: bash | |
| run: | | |
| cd build | |
| # Attempt of fix for using YARP idl generators (that link ACE) in Windows | |
| # See https://github.com/robotology/idyntree/issues/569 | |
| export PATH=$PATH:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/bin:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin | |
| cmake --build . --config ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
| - name: Test | |
| shell: bash | |
| run: | | |
| cd build | |
| export PATH=$PATH:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/bin:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin | |
| ctest -E "${BLF_TEST_TO_SKIP}" --output-on-failure -C ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} . |