Refactored the ai worker controllers #21
Workflow file for this run
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| # The name of the workflow | |
| name: CI | |
| # Specifies the events that trigger the workflow | |
| on: | |
| push: | |
| branches: [ jazzy, main ] | |
| pull_request: | |
| branches: [ jazzy, main ] | |
| # Defines a set of jobs to be run as part of the workflow | |
| jobs: | |
| # The name of the job | |
| ROS_CI: | |
| runs-on: ubuntu-22.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distribution: | |
| # - humble | |
| - jazzy | |
| # - rolling | |
| include: | |
| # ROS 2 Humble Hawksbill | |
| # - docker_image: ubuntu:jammy | |
| # ros_distribution: humble | |
| # ros_version: 2 | |
| # ROS 2 Jazzy Jalisco | |
| - docker_image: ubuntu:noble | |
| ros_distribution: jazzy | |
| ros_version: 2 | |
| # ROS 2 Rolling Ridley | |
| - docker_image: ubuntu:noble | |
| ros_distribution: rolling | |
| ros_version: 2 | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| steps: | |
| - name: Setup workspace | |
| run: mkdir -p ros_ws/src | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| path: ros_ws/src | |
| - name: Setup ROS environment | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distribution }} | |
| - name: Install OSQP and OsqpEigen | |
| shell: bash | |
| run: | | |
| set -e | |
| apt-get update | |
| apt-get install -y --no-install-recommends git cmake build-essential pkg-config | |
| git clone --depth 1 https://github.com/osqp/osqp.git /tmp/osqp | |
| cmake -S /tmp/osqp -B /tmp/osqp/build -G "Unix Makefiles" | |
| cmake --build /tmp/osqp/build | |
| cmake --build /tmp/osqp/build --target install | |
| git clone --depth 1 https://github.com/robotology/osqp-eigen.git /tmp/osqp-eigen | |
| cmake -S /tmp/osqp-eigen -B /tmp/osqp-eigen/build -DCMAKE_INSTALL_PREFIX=/usr/local | |
| cmake --build /tmp/osqp-eigen/build | |
| cmake --build /tmp/osqp-eigen/build --target install | |
| - name: Check and Install ROS dependencies | |
| shell: bash | |
| run: | | |
| set -e | |
| source /opt/ros/${{ matrix.ros_distribution }}/setup.bash | |
| echo "--- Updating rosdep definitions ---" | |
| rosdep update | |
| echo "--- Installing system dependencies for ROS 2 ${{ matrix.ros_distribution }} ---" | |
| rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }} --skip-keys "osqp-eigen robotis_interfaces" | |
| echo "--- Performing rosdep check for ROS 2 ${{ matrix.ros_distribution }} ---" | |
| if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }} --skip-keys "osqp-eigen robotis_interfaces"; then | |
| echo "--- rosdep check passed ---" | |
| else | |
| echo "--- rosdep check failed: Missing system dependencies or unresolvable keys. ---" | |
| exit 1 | |
| fi | |
| - name: Build and Test | |
| env: | |
| CMAKE_PREFIX_PATH: /usr/local:${{ env.CMAKE_PREFIX_PATH }} | |
| OsqpEigen_DIR: /usr/local/lib/cmake/OsqpEigen | |
| LD_LIBRARY_PATH: /usr/local/lib:${{ env.LD_LIBRARY_PATH }} | |
| uses: ros-tooling/action-ros-ci@v0.3 | |
| with: | |
| target-ros2-distro: ${{ matrix.ros_distribution }} | |
| vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_motion_controller/${{ github.event_name == 'pull_request' && github.head_ref || github.ref_name }}/robotis_motion_controller_ci.repos" | |
| package-name: | | |
| motion_controller | |
| motion_controller_core | |
| motion_controller_models | |
| motion_controller_ros | |
| motion_controller_ros_py | |
| rosdep-skip-keys: osqp-eigen | |
| no-symlink-install: true |