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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| name: overworld modules CI | ||
|
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| on: [push] | ||
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| jobs: | ||
| build: | ||
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| runs-on: ${{ matrix.operating-system }} | ||
| strategy: | ||
| matrix: | ||
| operating-system: [ubuntu-18.04] | ||
| 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 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| adream_walls: | ||
| orientation: | ||
| z: 1.57 | ||
|
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| adream_floor: | ||
| orientation: | ||
| z: 1.57 | ||
|
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| adream_window_h10_1: | ||
| orientation: | ||
| z: 1.57 | ||
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| adream_window_h10_2: | ||
| orientation: | ||
| z: 1.57 | ||
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| adream_window_h20_1: | ||
| orientation: | ||
| z: 1.57 | ||
|
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| adream_window_h20_2: | ||
| orientation: | ||
| z: 1.57 | ||
|
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| adream_window_h20_3: | ||
| orientation: | ||
| z: 1.57 | ||
|
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| adream_appartment: | ||
| orientation: | ||
| z: 1.57 | ||
|
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||
| adream_door_h21_1: | ||
| position: | ||
| x: 1.03963 | ||
| y: -0.00339 | ||
| z: 1.0725 | ||
| orientation: | ||
| z: 1.57 | ||
|
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||
| adream_door_h21_2: | ||
| position: | ||
| x: 5.09035 | ||
| y: 18.4801 | ||
| z: 1.0725 | ||
| orientation: | ||
| z: 1.57 | ||
|
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||
| adream_door_h21_3: | ||
| position: | ||
| x: 0.932577 | ||
| y: 18.4514 | ||
| z: 1.0725 | ||
| orientation: | ||
| z: 1.57 | ||
|
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||
| adream_door_h16: | ||
| position: | ||
| x: -0.152311 | ||
| y: 22.3506 | ||
| z: 1.0725 | ||
| orientation: | ||
| z: 3.14159 | ||
|
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| adream_door_h12: | ||
| position: | ||
| x: -11.5018 | ||
| y: 11.6701 | ||
| z: 1.0725 | ||
| orientation: | ||
| z: 2.51327 | ||
|
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| adream_door_h14: | ||
| position: | ||
| x: -6.56428 | ||
| y: 9.44934 | ||
| z: 1.0725 | ||
|
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| adream_door_h13: | ||
| position: | ||
| x: -10.236 | ||
| y: 11.2895 | ||
| z: 1.0725 | ||
| orientation: | ||
| z: -0.942478 | ||
|
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||
| adream_door_h11: | ||
| position: | ||
| x: -9.51151 | ||
| y: 14.0825 | ||
| z: 1.0725 | ||
| orientation: | ||
| z: -0.942478 |
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