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Cross-platform CI with conda packages #739

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Apr 6, 2021
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33 changes: 33 additions & 0 deletions .github/ci_env.yml
Original file line number Diff line number Diff line change
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name: test
channels:
- robostack
- conda-forge
dependencies:
# build deps
- compilers
- ninja
- cmake
- catkin_pkg
# Other deps
- cppzmq
- eigen
- msgpack-python
- orocos-kdl
- python
- tinyxml2
- zeromq
- ros-distro-mutex 0.1 noetic
- ros-noetic-catkin
- ros-noetic-cmake-modules
- ros-noetic-eigen-conversions
- ros-noetic-geometry-msgs
- ros-noetic-kdl-parser
- ros-noetic-moveit-core
- ros-noetic-moveit-msgs
- ros-noetic-moveit-ros-planning
- ros-noetic-pluginlib
- ros-noetic-roscpp
- ros-noetic-rosunit
- ros-noetic-std-msgs
- ros-noetic-tf
- ros-noetic-tf-conversions
85 changes: 85 additions & 0 deletions .github/workflows/conda_ci_action.yml
Original file line number Diff line number Diff line change
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name: Build Exotica on all platforms

on: push

jobs:
run_rviz_compilation:
runs-on: ${{ matrix.os }}
strategy:
fail-fast: true
matrix:
os: [macos-latest, ubuntu-latest, windows-latest]
steps:
- uses: actions/checkout@v2
- name: Set up Dependencies
uses: mamba-org/provision-with-micromamba@main
with:
environment-file: .github/ci_env.yml
- name: Install System Dependencies
if: runner.os == 'Linux'
run: |
sudo apt-get install libglew-dev mesa-utils xvfb libgl1-mesa-glx libgl1-mesa-dev libglu1-mesa libglu1-mesa-dev \
libselinux1 libxdamage1 libxfixes3 libxxf86vm1
- name: Build Exotica on Unix
if: runner.os == 'Linux' || runner.os == 'macOS'
working-directory: ./exotica_core
shell: bash -l -eo pipefail {0}
run: |
if [[ `uname -s` == "Linux" ]]; then
CDT="-cos6-x86_64"
micromamba install -y mesa-libgl-devel$CDT mesa-dri-drivers$CDT \
libselinux$CDT libxdamage$CDT libxxf86vm$CDT \
libxext$CDT libxfixes$CDT -c conda-forge
fi
export CTEST_OUTPUT_ON_FAILURE=1
mkdir build
cd build
cmake .. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
-DCMAKE_BUILD_TYPE=Release \
-DCATKIN_SKIP_TESTING=OFF \
-G "Ninja"
ninja
ninja run_tests
- name: Build Exotica on Windows
if: runner.os == 'Windows'
working-directory: ./exotica_core
shell: powershell
run: |
micromamba shell hook -s cmd.exe -p C:\Users\runneradmin\micromamba
Get-Content -Path C:\Users\runneradmin\micromamba\condabin\mamba_hook.bat
- name: Build Exotica on Windows
if: runner.os == 'Windows'
working-directory: ./exotica_core
shell: cmd
run: |
echo "Remove unnecessary / colliding things from PATH"
set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%"
set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%"
set "PATH=%PATH:C:\Rust\.cargo\bin;=%"
set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%"
set "PATH=%PATH:C:\Program Files\Git\cmd;=%"
set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%"
set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%"
set "PATH=%PATH:C:\Program Files\CMake\bin;=%"
set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%"
set "PATH=%PATH:C:\Strawberry\c\bin;=%"
set "PATH=%PATH:C:\Strawberry\perl\bin;=%"
set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%"
set "PATH=%PATH:c:\tools\php;=%"
:: Make paths like C:\\hostedtoolcache\\windows\\Ruby\\2.5.7\\x64\\bin garbage
set "PATH=%PATH:ostedtoolcache=%"
echo "Activate environment, and compile"
call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test
SET "PYTHONPATH=%CONDA_PREFIX%\Library\lib\site-packages"
mkdir build
cd build
SET "CTEST_OUTPUT_ON_FAILURE=1"
cmake .. -DCMAKE_PREFIX_PATH="%CONDA_PREFIX%\Library" ^
-DCMAKE_INSTALL_PREFIX="%CONDA_PREFIX%\Library" ^
-DCMAKE_BUILD_TYPE=Release ^
-DCATKIN_SKIP_TESTING=OFF ^
-DBoost_USE_STATIC_LIBS=OFF ^
-G "Ninja"
ninja
ninja run_tests