add robot_localization to minimal build #242
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| name: Ubuntu 22.04 build with debian ros packages along with source packages | |
| on: | |
| push: | |
| workflow_dispatch: | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| ubuntu2204: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [install, devel] | |
| build_all: [minimal, full] | |
| runs-on: ubuntu-22.04 | |
| # env: | |
| steps: | |
| - name: git clone ros_from_src | |
| uses: actions/checkout@v3 | |
| with: | |
| path: other/src/ros_from_src | |
| - name: os version | |
| run: | | |
| lsb_release -a | |
| - name: apt update | |
| run: | | |
| sudo add-apt-repository universe | |
| sudo apt-get update | |
| - name: apt upgrade | |
| run: | | |
| echo "skip" | |
| # sudo apt-get upgrade | |
| - name: needrestart | |
| run: | | |
| sudo needrestart -v | |
| # sudo needrestart -r a | |
| # sudo systemctl restart packagekit | |
| # sudo systemctl restart php8.1-fpm | |
| # sudo systemctl restart ssh | |
| - name: apt library installs 1 | |
| run: | | |
| sudo apt-get install -o Debug::pkgProblemResolver=true -yqq libunwind-dev | |
| dpkg -l | grep libunwind | |
| sudo apt-get install -o Debug::pkgProblemResolver=true -yqq libceres-dev | |
| sudo apt-get install -yqq devscripts dh-make | |
| - name: apt library installs 2 | |
| run: | | |
| sudo apt-get install -yqq libgeographic-dev | |
| sudo apt-get install -yqq libgmock-dev libgoogle-glog-dev | |
| sudo apt-get install -yqq liborocos-bfl-dev | |
| sudo apt-get install -yqq libprotobuf-dev libprotoc-dev | |
| - name: apt library installs 3 | |
| run: | | |
| sudo apt-get install -yqq libspnav-dev liburdfdom-dev | |
| sudo apt-get install -yqq libyaml-cpp-dev | |
| sudo apt-get install -yqq cython3 | |
| sudo apt-get install -yqq freeglut3-dev | |
| sudo apt-get install -yqq libapriltag-dev | |
| sudo apt-get install -yqq libcgal-dev | |
| sudo apt-get install -yqq libfmt-dev | |
| sudo apt-get install -yqq libgsl-dev | |
| sudo apt-get install -yqq libhdf5-dev | |
| sudo apt-get install -yqq libturbojpeg0-dev | |
| sudo apt-get install -yqq libzmq3-dev | |
| sudo apt-get install -yqq ocl-icd-opencl-dev opencl-headers | |
| sudo apt-get install -yqq libopenvdb-dev | |
| - name: apt sdl installs | |
| run: | | |
| sudo apt-get install -o Debug::pkgProblemResolver=true -yqq libsdl2-* libsdl-image1.2-dev python3-sdl2 | |
| sudo apt-get install -yqq frei0r-plugins-dev libfrei0r-ocaml-dev | |
| - name: apt video installs | |
| run: | | |
| sudo apt-get install -yqq libgst-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev | |
| sudo apt-get install -yqq libuvc-dev libv4l-dev | |
| - name: apt qt installs | |
| run: | | |
| sudo apt-get install -yqq libqt5svg5-dev libqt5websockets5-dev libqt5x11extras5-dev libqwt-qt5-dev | |
| sudo apt-get install -yqq libqtav-dev | |
| - name: apt tool installs | |
| run: | | |
| sudo apt-get install -yqq git | |
| sudo apt-get install -yqq vim curl jq | |
| sudo apt-get install -yqq python-is-python3 python3-venv | |
| - name: apt ros installs | |
| run: | | |
| sudo apt-get install -yqq ros-* | |
| sudo apt-get install -yqq catkin-lint | |
| sudo apt-get install -yqq libimage-view-dev | |
| sudo apt-get install -yqq libpcl-ros-dev | |
| sudo apt-get install -yqq python3-tf2-geometry-msgs | |
| - name: setup | |
| run: | | |
| mkdir -p other/src | |
| echo "DEST=$HOME/other/install" >> $GITHUB_ENV | |
| # echo "$DEST/bin" >> $GITHUB_PATH | |
| echo PYTHON_MAJOR_VERSION=`python --version | awk '{print $2}' | cut -d'.' -f1` >> $GITHUB_ENV | |
| echo PYTHON_MINOR_VERSION=`python --version | awk '{print $2}' | cut -d'.' -f2` >> $GITHUB_ENV | |
| - name: setup 2 | |
| run: | | |
| echo "PATH=$PATH:$DEST/bin" >> $GITHUB_ENV | |
| echo "PYTHONPATH=$DEST/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/site-packages/" >> $GITHUB_ENV | |
| echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEST/lib/cmake" >> $GITHUB_ENV | |
| - name: check setup | |
| run: | | |
| echo $HOME | |
| echo $GITHUB_PATH | |
| echo $PATH | |
| echo $PYTHONPATH | |
| - name: git clone vcstool | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: dirk-thomas/vcstool | |
| path: other/src/vcstool | |
| - name: vcs | |
| run: | | |
| cd other/src | |
| cd vcstool | |
| python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed | |
| vcs --help | |
| - name: git clone pycommon | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: osrf/osrf_pycommon | |
| path: other/src/osrf_pycommon | |
| - name: pycommon | |
| run: | | |
| cd other/src | |
| cd osrf_pycommon | |
| python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed | |
| - name: git clone catkin tools | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: lucasw/catkin_tools | |
| path: other/src/catkin_tools | |
| ref: sanitize_cmake_prefix_path | |
| - name: catkin tools | |
| run: | | |
| cd other/src | |
| cd catkin_tools | |
| python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed | |
| which catkin | |
| catkin --version | |
| - name: setup base_catkin_ws | |
| run: | | |
| mkdir -p ${{ matrix.build_type }}_base_catkin_ws/src | |
| cd ${{ matrix.build_type }}_base_catkin_ws/src | |
| ln -s ../../other/src/ros_from_src/ubuntu_2204/base_repos.yaml | |
| # need https instead of git@github | |
| sed -i 's/[email protected]:/https:\/\/github.com\//' base_repos.yaml | |
| ls -l | |
| vcs import --shallow < base_repos.yaml | |
| # show which versions were imported | |
| vcs export --exact | |
| # ignore repos that aren't yet building in 22.04 | |
| ../../other/src/ros_from_src/ubuntu_2204/ignore.sh | |
| # the newer openvdb that doesn't have tbb error that the apt install version has | |
| - name: install build openvdb | |
| if: ${{ matrix.build_all == 'full' }} | |
| run: | | |
| mkdir -p other/build/openvdb | |
| cd other/build/openvdb | |
| cmake ../../../${{ matrix.build_type }}_base_catkin_ws/src/other/vdb/openvdb/ -DCMAKE_INSTALL_PREFIX=$DEST | |
| make -j3 # it's a slow build | |
| make install | |
| # TODO(lucasw) later have an entirely separately layer for the larger slow building packages | |
| - name: ignore large slow packages | |
| if: ${{ matrix.build_all == 'minimal' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws/src | |
| touch other/PlotJuggler/CATKIN_IGNORE | |
| touch other/plotjuggler_msgs/CATKIN_IGNORE | |
| touch other/plotjuggler-ros-plugins/CATKIN_IGNORE | |
| touch other/jsk_common/CATKIN_IGNORE | |
| touch other/jsk_common_msgs/CATKIN_IGNORE | |
| touch other/jsk_recognition/CATKIN_IGNORE | |
| touch other/jsk_roseus/CATKIN_IGNORE | |
| touch other/jsk_visualization/CATKIN_IGNORE | |
| touch other/fiducials/CATKIN_IGNORE | |
| touch other/fuse/CATKIN_IGNORE | |
| touch other/rtabmap/CATKIN_IGNORE | |
| touch other/rtabmap_ros/CATKIN_IGNORE | |
| touch ros/grid_map/CATKIN_IGNORE | |
| touch other/anybotics/CATKIN_IGNORE | |
| touch other/octomap_mapping/CATKIN_IGNORE | |
| touch other/octomap_ros/CATKIN_IGNORE | |
| touch other/vdb/CATKIN_IGNORE | |
| - name: devel setup | |
| if: ${{ matrix.build_type == 'devel' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -Wno-dev -DCMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES=$DEST/include -DCMAKE_LIBRARY_PATH=$DEST/lib | |
| # TODO(lucasw) lvr2 not building in devel, but could build it | |
| # outside of catkin entirely and install to DEST | |
| touch src/other/lvr2/CATKIN_IGNORE | |
| touch src/other/mesh_tools/CATKIN_IGNORE | |
| - name: install setup | |
| if: ${{ matrix.build_type == 'install' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -Wno-dev -DCMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES=$DEST/include -DCMAKE_LIBRARY_PATH=$DEST/lib | |
| # individual packages or sets of packages built separately | |
| # this first one sources last because nothing has been built yet | |
| - name: build qt_gui_core | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| catkin build --no-status qt_gui_core | |
| source ${{ matrix.build_type }}/setup.bash | |
| - name: build vdb mapping | |
| if: ${{ matrix.build_all == 'full' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status vdb_mapping* --verbose | |
| - name: build fiducials | |
| if: ${{ matrix.build_all == 'full' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status fiducials | |
| - name: build grid_map | |
| if: ${{ matrix.build_all == 'full' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status grid_map* | |
| - name: build rtabmap_ros | |
| if: ${{ matrix.build_all == 'full' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status rtabmap_ros | |
| - name: build joint_trajectory_controller | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status joint_trajectory_controller | |
| - name: test joint_trajectory_controller | |
| # TODO(lucasw) this test is slow, maybe don't do it at all | |
| if: ${{ (matrix.build_type == 'devel' && matrix.build_all == 'full') }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build joint_trajectory_controller --no-status --no-deps --catkin-make-args tests | |
| rostest joint_trajectory_controller joint_trajectory_controller.test | |
| # catkin test --no-status joint_trajectory_controller | |
| - name: test install joint_trajectory_controller | |
| if: ${{ (matrix.build_type == 'devel' && matrix.build_all == 'full') }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin test --no-status joint_trajectory_controller | |
| - name: build plotjuggler | |
| if: ${{ matrix.build_all == 'full' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| # Does building plotjuggler before plotjuggler_ros mess up in install? | |
| # catkin build --no-status plotjuggler | |
| catkin build --no-status plotjuggler_ros | |
| source ${{ matrix.build_type }}/setup.bash | |
| - name: build rviz | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status rviz | |
| source ${{ matrix.build_type }}/setup.bash | |
| - name: build rviz_map_plugin | |
| if: ${{ matrix.build_all == 'full' && matrix.build_type == 'install' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status rviz_map_plugin | |
| - name: build jsk | |
| if: ${{ matrix.build_all == 'full' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status jsk* | |
| - name: build fuse | |
| if: ${{ matrix.build_all == 'full' }} | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status fuse_models fuse_optimizers | |
| - name: build rest of ${{ matrix.build_type }}_base_catkin_ws | |
| run: | | |
| cd ${{ matrix.build_type }}_base_catkin_ws | |
| source ${{ matrix.build_type }}/setup.bash | |
| catkin build --no-status | |
| - name: tar up install_catkin_ws | |
| if: ${{ matrix.build_type == 'install' }} | |
| run: | | |
| tar cvzf install_catkin_ws_2204.tgz install_base_catkin_ws/install | |
| tar cvzf install_dest_2204.tgz $DEST | |
| ls -l | |
| - name: upload install_catkin_ws_2204.tgz | |
| if: ${{ matrix.build_type == 'install' }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: install_dest_2204_${{ matrix.build_all }} | |
| path: install_dest_2204.tgz | |
| - name: upload install_catkin_ws_2204.tgz | |
| if: ${{ matrix.build_type == 'install' }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: install_catkin_ws_2204__${{ matrix.build_all }} | |
| path: install_catkin_ws_2204.tgz | |
| - name: make a deb from the entirety of install_catkin_ws/install | |
| if: ${{ matrix.build_type == 'install' }} | |
| run: | | |
| cd other/src/ros_from_src/debian | |
| ln -s ../../../../install_base_catkin_ws/install | |
| dpkg-buildpackage -A -uc | |
| - name: upload .deb | |
| if: ${{ matrix.build_type == 'install' }} | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: install_catkin_ws_2204_${{ matrix.build_all }}.deb | |
| # TODO(lucasw) extract name from debian files, VERSION? | |
| path: other/src/ros_from_src/rosone_0.0.6-1_all.deb |