[World] add debug texts #83
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: overworld modules CI | |
| on: [push] | |
| jobs: | |
| build: | |
| runs-on: ${{ matrix.operating-system }} | |
| strategy: | |
| matrix: | |
| include: | |
| #- operating-system: ubuntu-18.04 | |
| # distro: melodic | |
| - operating-system: ubuntu-20.04 | |
| distro: noetic | |
| env: | |
| ROS_CI_DESKTOP: "`lsb_release -cs`" | |
| CI_SOURCE_PATH: $(pwd) | |
| ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall | |
| CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options | |
| ROS_PARALLEL_JOBS: '-j8 -l6' | |
| # Set the python path manually to include /usr/-/python2.7/dist-packages | |
| # as this is where apt-get installs python packages. | |
| PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages:/usr/lib/python3.8/dist-packages:/usr/local/lib/python3.8/dist-packages | |
| ROS_DISTRO: ${{ matrix.distro }} | |
| steps: | |
| - uses: actions/checkout@v1 | |
| - name: Install ROS | |
| run: | | |
| sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" | |
| sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 | |
| sudo apt update -qq | |
| sudo apt install dpkg | |
| sudo apt install -y ros-$ROS_DISTRO-desktop qtbase5-dev qtdeclarative5-dev | |
| sudo apt install -y libcppunit-dev | |
| sudo apt install ros-$ROS_DISTRO-pcl-ros ros-$ROS_DISTRO-tf2-geometry-msgs ros-$ROS_DISTRO-pr2-common | |
| if [ $ROS_DISTRO != noetic ] | |
| then | |
| sudo apt-get install python-rosdep | |
| else | |
| sudo apt-get install python3-rosdep | |
| fi | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| sudo rosdep init | |
| rosdep update --include-eol-distros # Support EOL distros. | |
| if [ $ROS_DISTRO != noetic ] | |
| then | |
| pip install requests --user | |
| else | |
| pip3 install requests --user | |
| fi | |
| - name: Install dependencies | |
| run: | | |
| mkdir -p ~/dependencies && cd ~/dependencies | |
| git clone https://github.com/bulletphysics/bullet3.git | |
| cd bullet3 | |
| mkdir build && mkdir install | |
| export BULLET_PATH=$(pwd) | |
| cd build | |
| cmake .. -DCMAKE_INSTALL_PREFIX=$BULLET_PATH/install -DBUILD_SHARED_LIBS=ON | |
| make install | |
| cd ~/work | |
| git clone -b dev https://github.com/sarthou/ontologenius.git | |
| - name: Install modules | |
| run: | | |
| cd ~/work | |
| mkdir overworld_modules && cd overworld_modules | |
| git clone https://github.com/sarthou/artrack_perception_module.git | |
| git clone https://github.com/sarthou/optitrack_perception_module.git | |
| git clone https://github.com/sarthou/pr2_gripper_perception_module.git | |
| cd .. | |
| git clone https://github.com/RIS-WITH/optitrack_msgs.git | |
| if [ $ROS_DISTRO != noetic ] | |
| then | |
| git clone https://github.com/sarthou/ar_track_alvar.git | |
| else | |
| git clone -b noetic-devel https://github.com/sarthou/ar_track_alvar.git | |
| fi | |
| - name: build | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| mkdir -p ~/catkin_ws/src | |
| cd ~/catkin_ws | |
| catkin_make | |
| source devel/setup.bash | |
| cd ~/catkin_ws/src | |
| ln -s ~/work | |
| cd .. | |
| export BULLET_INSTALL_PATH=~/dependencies/bullet3/install | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$BULLET_INSTALL_PATH/lib | |
| catkin_make |